import matplotlib.pyplot as plt
import sys
sys.path.append('..')
import massParam as P
from hw1.signalGenerator import signalGenerator
from hw1.massAnimation import massAnimation
from hw1.dataPlotter import dataPlotter
from hw2.massDynamics import massDynamics
from massController import massController
from dataPlotterObserver import dataPlotterObserver
# instantiate mass, controller, and reference classes
mass = massDynamics()
controller = massController()
reference = signalGenerator(amplitude=1.0, frequency=1.0)
disturbance = signalGenerator(amplitude=0.0)
# instantiate the simulation plots and animation
dataPlot = dataPlotter()
animation = massAnimation()
dataPlotObserver = dataPlotterObserver()
t = P.t_start # time starts at t_start
y = mass.h()
while t < P.t_end: # main simulation loop
# Propagate dynamics in between plot samples
t_next_plot = t + P.t_plot
# updates control and dynamics at faster simulation rate
import matplotlib.pyplot as plt
import sys
sys.path.append('..')
import ballbeamParam as P
from hw1.signalGenerator import signalGenerator
from hw1.ballbeamAnimation import ballbeamAnimation
from hw1.dataPlotter import dataPlotter
from hw2.ballbeamDynamics import ballbeamDynamics
from ballbeamController import ballbeamController
# instantiate ball beam, controller, and reference classes
ballbeam = ballbeamDynamics(alpha=0.0)
controller = ballbeamController()
reference = signalGenerator(amplitude=0.15, frequency=0.01, y_offset=0.25)
disturbance = signalGenerator(amplitude=0.0)
noise = signalGenerator(amplitude=0.01)
# instantiate the simulation plots and animation
dataPlot = dataPlotter()
animation = ballbeamAnimation()
t = P.t_start # time starts at t_start
y = ballbeam.h() # output at the start of the simulation
while t < P.t_end: # main simulation loop
# Propagate dynamics at rate Ts
t_next_plot = t + P.t_plot
while t < t_next_plot:
r = reference.square(t)
d = disturbance.step(t)
import matplotlib.pyplot as plt
import numpy as np
import sys
sys.path.append('..')
import VTOLParam as P
from hw1.signalGenerator import signalGenerator
from hw1.VTOLAnimation import VTOLAnimation
from hw1.dataPlotter import dataPlotter
from hw2.VTOLDynamics import VTOLDynamics
from VTOLController import VTOLController
# instantiate VTOL, controller, and reference classes
VTOL = VTOLDynamics()
controller = VTOLController()
z_reference = signalGenerator(amplitude=2.5, frequency=0.1, y_offset=3.0)
h_reference = signalGenerator(amplitude=3.0, frequency=0.1, y_offset=5.0)
f_l = signalGenerator(amplitude=50.0, frequency=0.5)
f_r = signalGenerator(amplitude=50.0, frequency=0.5)
# instantiate the simulation plots and animation
dataPlot = dataPlotter()
animation = VTOLAnimation()
t = P.t_start # times starts at t_start
y = VTOL.h()
while t < P.t_end:
# Propagate dynamics in between plot samples
t_next_plot = t + P.t_plot
import matplotlib.pyplot as plt
import sys
sys.path.append('..')
import ballbeamParam as P
from hw1.signalGenerator import signalGenerator
from hw1.ballbeamAnimation import ballbeamAnimation
from hw1.dataPlotter import dataPlotter
from ballbeamDynamics import ballbeamDynamics
# instantiate ball beam, controller, and reference classes
ballbeam = ballbeamDynamics(alpha=0.0)
reference = signalGenerator(amplitude=0.5, frequency=0.02)
force = signalGenerator(amplitude=8.0, frequency=0.8)
# instantiate the simulation plots and animation
dataPlot = dataPlotter()
animation = ballbeamAnimation()
t = P.t_start # time starts at t_start
while t < P.t_end: # main simulation loop
# Propagate dynamics at rate Ts
t_next_plot = t + P.t_plot
while t < t_next_plot:
r = reference.square(t)
u = force.sin(t)
y = ballbeam.update(u) # propagate the dynamics
t = t + P.Ts # advance time by Ts
# update animation and data plots at rate t_plot
animation.update(ballbeam.state)
import matplotlib.pyplot as plt
import numpy as np
import sys
sys.path.append('..') # add parent directory
import VTOLParam as P
from hw2.VTOLDynamics import VTOLDynamics
from VTOLController import VTOLController
from hw1.signalGenerator import signalGenerator
from hw1.VTOLAnimation import VTOLAnimation
from hw1.dataPlotter import dataPlotter
# instantiate VTOL, controller, and reference classes
VTOL = VTOLDynamics()
controller = VTOLController()
z_reference = signalGenerator(amplitude=4.0, frequency=0.02, y_offset=5.0)
h_reference = signalGenerator(amplitude=3.0, frequency=0.03, y_offset=5.0)
F_disturbance = signalGenerator(amplitude=1.0)
tau_disturbance = signalGenerator(amplitude=0.2)
z_noise = signalGenerator(amplitude=0.01, frequency=100.0 * 2 * np.pi)
h_noise = signalGenerator(amplitude=0.05, frequency=100.0 * 2 * np.pi)
th_noise = signalGenerator(amplitude=0.01, frequency=100.0 * 2 * np.pi)
# instantiate the simulation plots and animation
dataPlot = dataPlotter()
animation = VTOLAnimation()
t = P.t_start # time starts at t_start
y = VTOL.h() # output of system at start of simulation
while t < P.t_end: # main simulation loop
# Propagate dynamics in between plot samples
t_next_plot = t + P.t_plot
import sys
sys.path.append('..') # add parent directory
import matplotlib.pyplot as plt
import numpy as np
import massParam as P
from hw2.massDynamics import massDynamics
from massController import massController
from hw1.signalGenerator import signalGenerator
from hw1.massAnimation import massAnimation
from hw1.dataPlotter import dataPlotter
# instantiate satellite, controller, and reference classes
mass = massDynamics()
controller = massController()
reference = signalGenerator(amplitude=0.5, frequency=0.04)
disturbance = signalGenerator(amplitude=0.25)
noise = signalGenerator(amplitude=0.01, frequency=2.0 * np.pi * 500)
# instantiate the simulation plots and animation
dataPlot = dataPlotter()
animation = massAnimation()
t = P.t_start # time starts at t_start
y = mass.h() # output of system at start of simulation
while t < P.t_end: # main simulation loop
# Propagate dynamics in between plot samples
t_next_plot = t + P.t_plot
while t < t_next_plot: # updates control and dynamics at faster simulation rate
r = reference.square(t) # reference input
d = disturbance.step(t) # input disturbance
n = noise.sin(t) # simulate sensor noise
import matplotlib.pyplot as plt
import numpy as np
import sys
sys.path.append('..')
import VTOLParam as P
from hw1.signalGenerator import signalGenerator
from hw1.VTOLAnimation import VTOLAnimation
from hw1.dataPlotter import dataPlotter
from VTOLDynamics import VTOLDynamics
# instantiate VTOL, controller, and reference classes
VTOL = VTOLDynamics()
reference = signalGenerator(amplitude=0.5, frequency=0.1)
f_l = signalGenerator(amplitude=50.0, frequency=0.5)
f_r = signalGenerator(amplitude=50.0, frequency=0.5)
# instantiate the simulation plots and animation
dataPlot = dataPlotter()
animation = VTOLAnimation()
t = P.t_start # times starts at t_start
while t < P.t_end:
# Propagate dynamics in between plot samples
t_next_plot = t + P.t_plot
# updates control and dynamics at faster simulation rate
while t < t_next_plot:
r = reference.square(t)
u = np.array([[f_l.sin(t)], [f_r.sin(t)]])
y = VTOL.update(u)
