sys.constants = {
m: mass_of_rod,
M: mass_of_plate,
g: 9.81,
H: workspace_width,
a: plate_width,
b: plate_height,
c: cable_c,
c_rod: rod_c,
k_rod: rod_k,
Izz: inertia_of_plate,
Izz_rod: inertia_of_rod,
}
sys.initial_conditions = {x: x_init, y: y_init, beta: beta_init, e: -rod_init}
sys.specifieds = {
L1: lambda x, t: s_curve(t, L1_init_s, L1_end_s, RiseTime, StartTime),
L2: lambda x, t: s_curve(t, L2_init_s, L2_end_s, RiseTime, StartTime)
}
sys.times = np.linspace(0.0, Simulation_Time, 1000)
sys.generate_ode_function(generator='cython')
y = sys.integrate()
sim_time = np.linspace(0.0, Simulation_Time, 1000)
fig = plt.figure(figsize=(18, 4))
# fig = plt.figure(0)
fig.add_subplot(141)
plt.plot(sim_time, y[:, 0], label='Unshaped')
# plt.ylim(25,0)
plt.title(r'X Motion')
motor_omega[2]: 0.,
motor_omega[3]: 0.,
blade_omega[0]: 0.,
blade_omega[1]: 0.,
blade_omega[2]: 0.,
blade_omega[3]: 0.,
blade_omega[4]: 0.,
blade_omega[5]: 0.,
blade_omega[6]: 0.,
blade_omega[7]: 0.,
}
bb_sys.specifieds = {
motor_voltage[0]: v_1,
motor_voltage[1]: v_2,
motor_voltage[2]: v_3,
motor_voltage[3]: v_4,
}
bb_sys.specifieds.update(dict(zip(thrust_func,get_blade_thrust)))
bb_sys.specifieds.update(dict(zip(torque_func,get_blade_torque)))
bb_sys.generate_ode_function()
dyn = bb_sys.evaluate_ode_function
x0 = bb_sys._initial_conditions_padded_with_defaults()
x0 = [x0[k] for k in bb_sys.states]
print("derivations finished")
