from math import radians
from model import ArmModel, plot_models
from model.motors import BAG
if __name__ == "__main__":
model = ArmModel(motors=BAG(2),
gear_ratio=250,
arm_mass=10,
arm_cg_distance=24 * 0.0254,
max_dist=radians(70))
model2 = ArmModel(motors=BAG(2),
gear_ratio=300,
arm_mass=10,
arm_cg_distance=24 * 0.0254,
max_dist=radians(70))
plot_models(model, model2, elements_to_plot=('pos', 'vel', 'current'))
# pulley_diameter=2.144 * 0.0254, max_dist=48 * 0.0254, motor_voltage_limit=12)]
# models += [ElevatorModel(motors=_775pro(3), gear_ratio=75, payload_mass=100, battery_voltage=12.3,
# pulley_diameter=2.144 * 0.0254, max_dist=48 * 0.0254, motor_voltage_limit=12)]
# models += [ElevatorModel(motors=_775pro(4), gear_ratio=85, payload_mass=100, battery_voltage=12.3,
# pulley_diameter=2.144 * 0.0254, max_dist=48 * 0.0254, motor_voltage_limit=12)]
# models += [ElevatorModel(motors=CIM(2), gear_ratio=17.49, payload_mass=40/2.2, battery_voltage=12.3,
# pulley_diameter=2.144 * 0.0254, max_dist=48*0.0254, motor_voltage_limit=12)]
models += [
ElevatorModel(motors=CIM(2),
gear_ratio=26,
payload_mass=400 / 2.2,
battery_voltage=12.3,
pulley_diameter=1.43 * 0.0254,
max_dist=32 * 0.0254,
motor_voltage_limit=12)
]
models += [
ElevatorModel(motors=MiniCIM(3),
gear_ratio=29,
payload_mass=400 / 2.2,
battery_voltage=12.3,
pulley_diameter=1.43 * 0.0254,
max_dist=32 * 0.0254,
motor_voltage_limit=12)
]
plot_models(*models, elements_to_plot=('pos', 'vel', 'current'))
from model import ShooterSpinupModel, plot_models
from model.motors import _775pro
if __name__ == "__main__":
models = []
# Intake Gearboxes
models += [
ShooterSpinupModel(motors=_775pro(2),
gear_ratio=2,
wheel_inertia=1,
wheel_diameter=2 * 0.0254,
motor_voltage_limit=12)
]
models += [
ShooterSpinupModel(motors=_775pro(2),
gear_ratio=1,
wheel_inertia=1,
wheel_diameter=2 * 0.0254,
motor_voltage_limit=12)
]
plot_models(*models,
elements_to_plot=('vel', 'surface_vel', 'total_current'))
from model import IntakeShooterModel, plot_models
from model.motors import _775pro, BAG
if __name__ == "__main__":
models = []
# Intake Gearboxes
models += [IntakeShooterModel(motors=BAG(2), gear_ratio=r, element_mass=3.5 / 2.2,
wheel_diameter=2 * 0.0254, max_dist=7 * 0.0254, motor_voltage_limit=12,
compression_force=45, check_for_slip=False) for r in [3, 4, 5, 7, 9]]
models += [IntakeShooterModel(motors=_775pro(2), gear_ratio=r, element_mass=3.5 / 2.2,
wheel_diameter=2 * 0.0254, max_dist=7 * 0.0254, motor_voltage_limit=12,
compression_force=45, check_for_slip=False) for r in [3, 4, 5, 7, 9]]
plot_models(*models, elements_to_plot=('pos', 'vel', 'total_current', 'slipping'))
# 6" Wheel Drivetrains
models += [DrivetrainModel(_775pro(8), gear_ratio=28.3, robot_mass=68, wheel_diameter=6 * 0.0254,
motor_voltage_limit=12, motor_current_limit=30, max_dist=10)]
# models += [DrivetrainModel(_775pro(8), gear_ratio=28.3 * 24 / 18, robot_mass=68, wheel_diameter=6 * 0.0254,
# motor_voltage_limit=12, motor_current_limit=30, max_dist=10,
# name="6\" Evo Slim - w\\ external2")]
models += [DrivetrainModel(_775pro(8), gear_ratio=28.3 * 30 / 24, robot_mass=68, wheel_diameter=6 * 0.0254,
motor_voltage_limit=12, motor_current_limit=30, max_dist=10,
name="6\" Evo Slim - w\\ external")]
models += [DrivetrainModel(_775pro(8), gear_ratio=100/12*66/16, robot_mass=68, wheel_diameter=6 * 0.0254,
motor_voltage_limit=12, motor_current_limit=30, max_dist=10,
name="6\" Evo Thicc")]
models += [ShiftingDrivetrainModel(CIM(6), robot_mass=68, max_dist=10, shift_velocity=2.3,
low_gear_ratio=9,
high_gear_ratio=4,
wheel_diameter=4 * 0.0254,
name="Oscar")]
#
# # # 6 CIM Drivetrain
# models += [DrivetrainModel(CIM(6), robot_mass=68, wheel_diameter=6 * 0.0254, gear_ratio=9.07,
# motor_voltage_limit=12, max_dist=6, name="Ball Shifter 6\" Wheel")] # Ball Shifter
#
# models += [DrivetrainModel(CIM(4), gear_ratio=10.75, robot_mass=68, wheel_diameter=6 * 0.0254,
# motor_voltage_limit=12, max_dist=6, name="Kitbot Toughbox 6\" Wheel")] # Kit-bot
#
plot_models(*models, elements_to_plot=('pos', 'vel', 'accel', 'total_current'))