def __init__(self, resistance, n1, n2, n3):
self.resistance = resistance
self.n1 = n1
self.n2 = n2
self.n3 = n3
self.alpha = 0.5
self.alphaSample = sig.ConstantSignal(0.5).sample
def __init__(self, n1, n2, pot, left, right):
self.n1 = n1
self.n2 = n2
self.omega = 0
self.theta = 0.0
self.Rm = 5.26
self.Kt = 0.323
self.Kb = 0.495
self.J = 0.00132
self.B = 0.0006
self.B = 0.0045 # to fit with measurements on 2012_07_02
self.pot = pot
self.left = left
self.right = right
self.phi = 0.0
self.distance = 1
self.lampAngleSample = sig.ConstantSignal(0.).sample
self.lampDistanceSample = sig.ConstantSignal(1.).sample
def plotD(k, end=50):
d = ts.TransducedSignal(sig.ConstantSignal(0.7),
wallFinderSystem(0.1, initD, k))
d.plot(0, end, newWindow='Gain ' + str(k))