def testSignal(simTime = 1.0):
nsteps = int(simTime/simulate.Tsim)
print __name__, 'nsteps ', nsteps
ninter = nsteps/2
return (nsteps,
sig.ListSignal(ninter*[{'pot1':0.0}]+\
ninter*[{'pot1':0.1}]))
def simpleSignal2(dist=1.0, simTime=3.0):
nsteps = int(simTime / simulate.Tsim)
return (nsteps,
sig.ListSignal(nsteps * [{
'lightAngle': 3 * math.pi / 4,
'lightDist': dist
}]))
def testSignal(simTime=2.5):
nsteps = int(simTime / simulate.Tsim)
print __name__, 'nsteps ', nsteps
ninter = nsteps / 3
return (nsteps,
sig.ListSignal(ninter*[{'pot1':.25}]+\
ninter*[{'pot1':.5}]+\
ninter*[{'pot1':.75}]))
def testSignal(dist = 3.0, simTime = 3.0):
nsteps = int(simTime/simulate.Tsim)
print __name__, 'nsteps ', nsteps
ninter=nsteps/4
return (nsteps,
sig.ListSignal(ninter*[{'lightAngle':1.57, 'lightDist':dist}]+\
ninter*[{'lightAngle':3.14, 'lightDist':dist}]+\
ninter*[{'lightAngle':1.57, 'lightDist':dist}]+\
ninter*[{'lightAngle':3.14, 'lightDist':dist}]))
def testSignal(simTime=2.5):
nsteps = int(simTime / simulate.Tsim)
print __name__, 'nsteps ', nsteps
ninter = math.pi / nsteps
return (nsteps,
sig.ListSignal([{
'motorAngle': 3 * math.pi / 4,
'lightAngle': (5 * math.pi / 4) - (i * ninter),
'lightDist': 3
} for i in range(nsteps + 1)]))
def testSignal(simTime = 3.0):
nsteps = int(simTime/simulate.Tsim)
print __name__, 'nsteps ', nsteps
return (nsteps,
sig.ListSignal(nsteps*[{}]))
def simpleSignal(dist = 3.0, simTime = 3.0):
nsteps = int(simTime/simulate.Tsim)
return (nsteps,
sig.ListSignal(nsteps*[{'lightAngle':1.57, 'lightDist':dist}]))
def solve(lines,
potAlphaSignals,
lampAngleSignals,
lampDistanceSignals,
potLabels,
lampLabels,
headMotorLabels,
motorLabels,
nSamples=100,
deltaT=0.02):
global nodes, N
def makeGMatrix():
gMatrix = [[0.0 for x in range(N)] for y in range(N)]
for c in resistors + pots + motorPots + heads + motors + probes + opAmps + vsources + isources:
if c.connected():
c.addConductance(gMatrix)
return gMatrix
def makeVoltages():
vArray = [0.0 for i in range(N)]
vKnown = [False for i in range(N)]
iArray = [0.0 for i in range(N)]
for c in vsources:
c.setVoltage(vArray, vKnown)
for c in isources:
c.setCurrent(iArray)
for c in opAmps:
c.initial(vArray, vKnown)
return (vArray, vKnown, iArray)
(nodes, N) = makeNodes(lines)
(resistors, pots, motorPots, heads, motors, vsources, isources, opAmps,
probes) = parseComponents(lines)
assert len(pots) == len(potAlphaSignals) == len(potLabels)
assert len(heads) == len(lampAngleSignals) == len(
lampDistanceSignals) == len(lampLabels) == len(headMotorLabels)
assert len(motors) == len(motorLabels)
nodePins = []
for i in range(N):
msg = ''
if nodes[201] == i: msg += ' top-'
if nodes[202] == i: msg += ' top+'
if nodes[203] == i: msg += ' bottom-'
if nodes[204] == i: msg += ' bottom+'
for c in range(1, 64):
if nodes[300 + c] == i: msg += ' ' + str(c) + 'J'
if nodes[400 + c] == i: msg += ' ' + str(c) + 'A'
nodePins.append(msg)
for i in range(N):
warn('node ' + chr(97 + i) + ':' + nodePins[i])
for c in resistors:
warn(str(c))
for c in pots:
warn(str(c))
for c in motorPots:
warn(str(c))
for c in heads:
warn(str(c))
for c in motors:
warn(str(c))
for c in vsources:
warn(str(c))
for c in isources:
warn(str(c))
for c in opAmps:
warn(str(c))
for c in probes:
warn(str(c))
for h in heads:
h.phi = h.lampAngleSample(0) * 2. * math.pi
h.distance = h.lampDistanceSample(0)
# h.updatePhotoResistors()
h.updatePhotoDiodes()
h.updatePot()
for p in pots:
p.alpha = p.alphaSample(0)
gMatrix = makeGMatrix()
(vArray, vKnown, iArray) = makeVoltages()
j = 0
for i in range(N):
if gMatrix[i][i] == 0.0:
warn(
'Floating node at{0:s} must be connected - it is possible you have not connected the inputs of an opamp.'
.format(nodePins[i]))
j += 1
if j > 0:
raise SingularMatrix('Floating nodes must be connected')
for i, pot in enumerate(pots):
pot.alphaSample = potAlphaSignals[i].sample
#if potAlphaSignal:
# if len(pots)<1:
# warn('Simulation file specifies input signal for nonexistent pot')
# raise NonexistentPart('No pot in this circuit!')
# else:
# pots[0].alphaSample = potAlphaSignal.sample
# warning = 'potAlphaSignal:'
# for n in range(nSamples):
# warning +='{0:5.2f}'.format(potAlphaSignal.sample(n))
# warn(warning)
for i, head in enumerate(heads):
head.lampAngleSample = lampAngleSignals[i].sample
head.lampDistanceSample = lampDistanceSignals[i].sample
#if lampAngleSignal:
# if len(heads)<1:
# warn('Simulation file specifies lamp angle input signal for nonexistent head')
# raise NonexistentPart('No head in this circuit!')
# else:
# heads[0].lampAngleSample = lampAngleSignal.sample
# warning = 'lampAngleSignal:'
# for n in range(nSamples):
# warning += '{0:5.2f}'.format(lampAngleSignal.sample(n))
# warn(warning)
#if lampDistanceSignal:
# if len(heads)<1:
# warn('Simulation file specifies lamp angle input signal for nonexistent head')
# raise NonexistentPart('No head in this circuit!')
# else:
# heads[0].lampDistanceSample = lampDistanceSignal.sample
# warning = 'lampDistanceSignal:'
# for n in range(nSamples):
# warning += '{0:5.2f}'.format(lampDistanceSignal.sample(n))
# warn(warning)
for h in heads + motors:
h.thetaOutput = []
h.omegaOutput = []
for p in probes:
p.outputs = []
for n in range(nSamples):
for h in heads:
h.phi = h.lampAngleSample(n) * 2. * math.pi
h.distance = h.lampDistanceSample(n)
# h.updatePhotoResistors()
h.updatePhotoDiodes()
h.updatePot()
for p in pots:
p.alpha = p.alphaSample(n)
gMatrix = makeGMatrix()
(vArray, vKnown, iArray) = makeVoltages()
# print '---'
# for i in range(N):
# print i,vArray[i],vKnown[i]
# print '---'
# for i in range(N):
# for j in range(N):
# if gMatrix[i][j]!=0:
# print 'gMatrix[{0:d}][{1:d}]={2:f}'.format(i,j,gMatrix[i][j])
# exit()
for o in opAmps:
gain = 0
if not vKnown[o.vP]:
gain += gMatrix[o.vP][o.vO] / gMatrix[o.vP][o.vP]
if not vKnown[o.vM]:
gain -= gMatrix[o.vM][o.vO] / gMatrix[o.vM][o.vM]
if gain != 0:
o.alpha = 1. / gain / o.K
else:
o.alpha = 1. / o.K
vArray0 = vArray[:]
for j in range(1000):
for nn in range(N):
if not vKnown[nn]:
vArray[nn] = 0
vArray[nn] = (-iArray[nn] - sum(
[gMatrix[nn][k] * vArray[k]
for k in range(N)])) / gMatrix[nn][nn]
for c in opAmps:
c.update(vArray, vKnown)
if j % 10 == 0:
error = math.sqrt(
sum([(vArray[i] - vArray0[i])**2
for i in range(len(vArray))]) / len(vArray))
if error < max([abs(v) for v in vArray]) / 1000.:
break
vArray0 = vArray[:]
# print j,error
for h in heads + motors:
h.update(vArray, deltaT)
h.thetaOutput.append(h.theta)
h.omegaOutput.append(h.omega)
for p in probes:
p.outputs.append(vArray[p.n1])
pos = []
neg = []
for p in probes:
if p.sign == '+':
pos.append(p)
else:
neg.append(p)
def myPlot(s, title, y0, y1):
if nSamples > 1:
samps = [s.sample(x) for x in xrange(nSamples)]
yy0 = min(samps)
yy1 = max(samps)
if float(yy1 - y0) / float(y1 - y0 + .001) > 0.9:
y1 = yy1
if float(y1 - yy0) / float(y1 - y0 + .001) > 0.9:
y0 = yy0
p = PlotWindow(title)
p.stem(range(nSamples), samps)
p.axis([0, nSamples, y0, y1])
add_window(p)
warning = str(title) + ':'
for nn in range(nSamples):
warning += '{0:6.2f}'.format(s.sample(nn))
warn(warning)
w = 0
for i in range(min(len(pos), len(neg))):
myPlot(
sig.ListSignal(
[a - b for (a, b) in zip(pos[i].outputs, neg[i].outputs)]),
'probe', 0, .01)
w += 1
for i, label in enumerate(headMotorLabels):
myPlot(sig.ListSignal(heads[i].thetaOutput), 'Motor %s Angle' % label,
0, 0)
myPlot(sig.ListSignal(heads[i].omegaOutput),
'Motor %s Velocity' % label, 0, 0)
w += 1
for i, label in enumerate(motorLabels):
myPlot(sig.ListSignal(motors[i].thetaOutput), 'Motor %s Angle' % label,
0, 0)
myPlot(sig.ListSignal(motors[i].omegaOutput),
'Motor %s Velocity' % label, 0, 0)
w += 1
#for h in heads+motors:
# myPlot(sig.ListSignal(h.thetaOutput),'Motor Angle',0,0)
# myPlot(sig.ListSignal(h.omegaOutput),'Motor Velocity',0,0)
# w += 1
for i, label in enumerate(lampLabels):
if label:
myPlot(lampDistanceSignals[i], 'Lamp %s Distance Signal' % label,
0, 1)
myPlot(lampAngleSignals[i], 'Lamp %s Angle Signal' % label,
-1. / 8, 1. / 8)
w += 2
#if lampDistanceSignal:
# myPlot(lampDistanceSignal,'Lamp Distance Signal',0,1)
# w += 1
#if lampAngleSignal:
# myPlot(lampAngleSignal,'Lamp Angle Signal',-1./8.,1./8.)
# w += 1
for i, label in enumerate(potLabels):
myPlot(potAlphaSignals[i], 'Pot %s Alpha Signal' % label, 0, 1)
w += 1
#if potAlphaSignal:
# myPlot(potAlphaSignal,'Pot Alpha Signal',0,1)
# w += 1
#elif len(pots)>0:
# myPlot(sig.ListSignal([pots[0].alphaSample(n) for n in range(nSamples)]),'Pot Alpha Signal',0,1)
# w += 1
if w == 0:
warn('No output signals are specified. Do you want to add a Probe?')