def setup(self):
m = self.m
n = self.n
param = IndepVarComp()
param.add_output('LOS', self.LOS, units=None)
param.add_output('temperature', self.temp, units='degK')
param.add_output('exposedArea', self.area, units='m**2')
param.add_output('CP_Isetpt', np.zeros((12, m)), units='A')
self.add_subsystem('param', param)
self.add_subsystem('bspline', BsplineParameters(n, m))
self.add_subsystem('voltage', Power_CellVoltage(n))
self.add_subsystem('power', Power_SolarPower(n))
# self.add_subsystem('perf', Perf(n))
self.connect('param.LOS', 'voltage.LOS')
self.connect('param.temperature', 'voltage.temperature')
self.connect('param.exposedArea', 'voltage.exposedArea')
self.connect('param.CP_Isetpt', 'bspline.CP_Isetpt')
self.connect('bspline.Isetpt', 'voltage.Isetpt')
self.connect('bspline.Isetpt', 'power.Isetpt')
self.connect('voltage.V_sol', 'power.V_sol')
def setup(self):
# collect options
opts = self.options
n = opts['n']
m = opts['m']
solar_raw1 = opts['solar_raw1']
solar_raw2 = opts['solar_raw2']
comm_raw = opts['comm_raw']
power_raw = opts['power_raw']
initial_inputs = opts['initial_inputs']
h = 43200.0 / (n - 1)
# User-defined initial parameters
if 't1' not in initial_inputs:
initial_inputs['t1'] = 0.0
if 't2' not in initial_inputs:
initial_inputs['t2'] = 43200.0
if 't' not in initial_inputs:
initial_inputs['t'] = np.array(range(0, n)) * h
if 'CP_Isetpt' not in initial_inputs:
initial_inputs['CP_Isetpt'] = 0.2 * np.ones((12, m))
if 'CP_gamma' not in initial_inputs:
initial_inputs['CP_gamma'] = np.pi / 4 * np.ones((m, ))
if 'CP_P_comm' not in initial_inputs:
initial_inputs['CP_P_comm'] = 0.1 * np.ones((m, ))
if 'iSOC' not in initial_inputs:
initial_inputs['iSOC'] = np.array([0.5])
# Fixed Station Parameters for the CADRE problem.
# McMurdo station: -77.85, 166.666667
# Ann Arbor: 42.2708, -83.7264
if 'LD' not in initial_inputs:
initial_inputs['LD'] = 5000.0
if 'lat' not in initial_inputs:
initial_inputs['lat'] = 42.2708
if 'lon' not in initial_inputs:
initial_inputs['lon'] = -83.7264
if 'alt' not in initial_inputs:
initial_inputs['alt'] = 0.256
# Initial Orbital Elements
if 'r_e2b_I0' not in initial_inputs:
initial_inputs['r_e2b_I0'] = np.zeros((6, ))
# Some initial setup.
indeps = IndepVarComp()
indeps.add_output('t1', initial_inputs['t1'], units='s')
indeps.add_output('t2', initial_inputs['t2'], units='s')
indeps.add_output('t', initial_inputs['t'], units='s')
# Design parameters
design = IndepVarComp()
design.add_output('CP_Isetpt',
initial_inputs['CP_Isetpt'].T,
units='A')
design.add_output('CP_gamma', initial_inputs['CP_gamma'], units='rad')
design.add_output('CP_P_comm', initial_inputs['CP_P_comm'], units='W')
design.add_output('iSOC', initial_inputs['iSOC'])
# These are broadcast inputs in the MDP.
# mdp_in = IndepVarComp()
# mdp_in.add_output('lat', 'cellInstd', np.ones((7, 12)))
# mdp_in.add_output('lon', 'finAngle', np.pi / 4.)
# mdp_in.add_output('alt', 'antAngle', 0.0)
# self.add_subsystem('mdp_in', mdp_in, promotes=['*'])
# params
params = IndepVarComp()
params.add_output('LD', initial_inputs['LD'])
params.add_output('lat', initial_inputs['lat'], units='rad')
params.add_output('lon', initial_inputs['lon'], units='rad')
params.add_output('alt', initial_inputs['alt'], units='km')
params.add_output('r_e2b_I0', initial_inputs['r_e2b_I0'])
# add independent vars
self.add_subsystem('indeps', indeps, promotes=['*'])
self.add_subsystem('design', design, promotes=['*'])
self.add_subsystem('params', params, promotes=['*'])
# Add Component Models
self.add_subsystem('BsplineParameters',
BsplineParameters(n, m),
promotes=['*'])
self.add_subsystem('Attitude_Angular',
Attitude_Angular(n),
promotes=['*'])
self.add_subsystem('Attitude_AngularRates',
Attitude_AngularRates(n, h),
promotes=['*'])
self.add_subsystem('Attitude_Attitude',
Attitude_Attitude(n),
promotes=['*'])
self.add_subsystem('Attitude_Roll', Attitude_Roll(n), promotes=['*'])
self.add_subsystem('Attitude_RotationMtx',
Attitude_RotationMtx(n),
promotes=['*'])
self.add_subsystem('Attitude_RotationMtxRates',
Attitude_RotationMtxRates(n, h),
promotes=['*'])
# Not needed?
# self.add_subsystem('Attitude_Sideslip', Attitude_Sideslip(n))
self.add_subsystem('Attitude_Torque',
Attitude_Torque(n),
promotes=['*'])
self.add_subsystem('BatteryConstraints',
BatteryConstraints(n),
promotes=['*'])
self.add_subsystem('BatteryPower', BatteryPower(n), promotes=['*'])
self.add_subsystem('BatterySOC', BatterySOC(n, h), promotes=['*'])
self.add_subsystem('Comm_AntRotation',
Comm_AntRotation(n),
promotes=['*'])
self.add_subsystem('Comm_AntRotationMtx',
Comm_AntRotationMtx(n),
promotes=['*'])
self.add_subsystem('Comm_BitRate', Comm_BitRate(n), promotes=['*'])
self.add_subsystem('Comm_DataDownloaded',
Comm_DataDownloaded(n, h),
promotes=['*'])
self.add_subsystem('Comm_Distance', Comm_Distance(n), promotes=['*'])
self.add_subsystem('Comm_EarthsSpin',
Comm_EarthsSpin(n),
promotes=['*'])
self.add_subsystem('Comm_EarthsSpinMtx',
Comm_EarthsSpinMtx(n),
promotes=['*'])
self.add_subsystem('Comm_GainPattern',
Comm_GainPattern(n, comm_raw),
promotes=['*'])
self.add_subsystem('Comm_GSposEarth',
Comm_GSposEarth(n),
promotes=['*'])
self.add_subsystem('Comm_GSposECI', Comm_GSposECI(n), promotes=['*'])
self.add_subsystem('Comm_LOS', Comm_LOS(n), promotes=['*'])
self.add_subsystem('Comm_VectorAnt', Comm_VectorAnt(n), promotes=['*'])
self.add_subsystem('Comm_VectorBody',
Comm_VectorBody(n),
promotes=['*'])
self.add_subsystem('Comm_VectorECI', Comm_VectorECI(n), promotes=['*'])
self.add_subsystem('Comm_VectorSpherical',
Comm_VectorSpherical(n),
promotes=['*'])
# Not needed?
# self.add_subsystem('Orbit_Initial', Orbit_Initial())
self.add_subsystem('Orbit_Dynamics',
Orbit_Dynamics(n, h),
promotes=['*'])
self.add_subsystem('Power_CellVoltage',
Power_CellVoltage(n, power_raw),
promotes=['*'])
self.add_subsystem('Power_SolarPower',
Power_SolarPower(n),
promotes=['*'])
self.add_subsystem('Power_Total', Power_Total(n), promotes=['*'])
# Not needed?
# self.add_subsystem('ReactionWheel_Motor', ReactionWheel_Motor(n))
self.add_subsystem('ReactionWheel_Power',
ReactionWheel_Power(n),
promotes=['*'])
self.add_subsystem('ReactionWheel_Torque',
ReactionWheel_Torque(n),
promotes=['*'])
self.add_subsystem('ReactionWheel_Dynamics',
ReactionWheel_Dynamics(n, h),
promotes=['*'])
self.add_subsystem('Solar_ExposedArea',
Solar_ExposedArea(n, solar_raw1, solar_raw2),
promotes=['*'])
self.add_subsystem('Sun_LOS', Sun_LOS(n), promotes=['*'])
self.add_subsystem('Sun_PositionBody',
Sun_PositionBody(n),
promotes=['*'])
self.add_subsystem('Sun_PositionECI',
Sun_PositionECI(n),
promotes=['*'])
self.add_subsystem('Sun_PositionSpherical',
Sun_PositionSpherical(n),
promotes=['*'])
self.add_subsystem('ThermalTemperature',
ThermalTemperature(n, h),
promotes=['*'])
self.set_order([
# independent vars
'indeps',
'design',
'params',
# Component Models
'BsplineParameters',
'Orbit_Dynamics',
'Attitude_Attitude',
'Attitude_Roll',
'Attitude_RotationMtx',
'Attitude_RotationMtxRates',
'Attitude_Angular',
'Attitude_AngularRates',
'Attitude_Torque',
'ReactionWheel_Torque',
'ReactionWheel_Dynamics',
'ReactionWheel_Power',
'Sun_PositionECI',
'Sun_PositionBody',
'Sun_PositionSpherical',
'Sun_LOS',
'Solar_ExposedArea',
'ThermalTemperature',
'Power_CellVoltage',
'Power_SolarPower',
'Power_Total',
'BatterySOC',
'BatteryPower',
'BatteryConstraints',
'Comm_AntRotation',
'Comm_AntRotationMtx',
'Comm_EarthsSpin',
'Comm_EarthsSpinMtx',
'Comm_GSposEarth',
'Comm_GSposECI',
'Comm_VectorECI',
'Comm_VectorBody',
'Comm_VectorAnt',
'Comm_VectorSpherical',
'Comm_LOS',
'Comm_GainPattern',
'Comm_Distance',
'Comm_BitRate',
'Comm_DataDownloaded',
])
def __init__(self,
n,
m,
solar_raw1=None,
solar_raw2=None,
comm_raw=None,
power_raw=None,
initial_params=None):
super(CADRE, self).__init__()
self.ln_solver.options['mode'] = 'auto'
# Analysis parameters
self.n = n
self.m = m
h = 43200.0 / (self.n - 1)
# User-defined initial parameters
if initial_params is None:
initial_params = {}
if 't1' not in initial_params:
initial_params['t1'] = 0.0
if 't2' not in initial_params:
initial_params['t2'] = 43200.0
if 't' not in initial_params:
initial_params['t'] = np.array(range(0, n)) * h
if 'CP_Isetpt' not in initial_params:
initial_params['CP_Isetpt'] = 0.2 * np.ones((12, self.m))
if 'CP_gamma' not in initial_params:
initial_params['CP_gamma'] = np.pi / 4 * np.ones((self.m, ))
if 'CP_P_comm' not in initial_params:
initial_params['CP_P_comm'] = 0.1 * np.ones((self.m, ))
if 'iSOC' not in initial_params:
initial_params['iSOC'] = np.array([0.5])
# Fixed Station Parameters for the CADRE problem.
# McMurdo station: -77.85, 166.666667
# Ann Arbor: 42.2708, -83.7264
if 'LD' not in initial_params:
initial_params['LD'] = 5000.0
if 'lat' not in initial_params:
initial_params['lat'] = 42.2708
if 'lon' not in initial_params:
initial_params['lon'] = -83.7264
if 'alt' not in initial_params:
initial_params['alt'] = 0.256
# Initial Orbital Elements
if 'r_e2b_I0' not in initial_params:
initial_params['r_e2b_I0'] = np.zeros((6, ))
# Some initial setup.
self.add('p_t1',
IndepVarComp('t1', initial_params['t1']),
promotes=['*'])
self.add('p_t2',
IndepVarComp('t2', initial_params['t2']),
promotes=['*'])
self.add('p_t', IndepVarComp('t', initial_params['t']), promotes=['*'])
# Design parameters
self.add('p_CP_Isetpt',
IndepVarComp('CP_Isetpt', initial_params['CP_Isetpt']),
promotes=['*'])
self.add('p_CP_gamma',
IndepVarComp('CP_gamma', initial_params['CP_gamma']),
promotes=['*'])
self.add('p_CP_P_comm',
IndepVarComp('CP_P_comm', initial_params['CP_P_comm']),
promotes=['*'])
self.add('p_iSOC',
IndepVarComp('iSOC', initial_params['iSOC']),
promotes=['*'])
# These are broadcast params in the MDP.
#self.add('p_cellInstd', IndepVarComp('cellInstd', np.ones((7, 12))),
# promotes=['*'])
#self.add('p_finAngle', IndepVarComp('finAngle', np.pi / 4.), promotes=['*'])
#self.add('p_antAngle', IndepVarComp('antAngle', 0.0), promotes=['*'])
self.add('param_LD',
IndepVarComp('LD', initial_params['LD']),
promotes=['*'])
self.add('param_lat',
IndepVarComp('lat', initial_params['lat']),
promotes=['*'])
self.add('param_lon',
IndepVarComp('lon', initial_params['lon']),
promotes=['*'])
self.add('param_alt',
IndepVarComp('alt', initial_params['alt']),
promotes=['*'])
self.add('param_r_e2b_I0',
IndepVarComp('r_e2b_I0', initial_params['r_e2b_I0']),
promotes=['*'])
# Add Component Models
self.add("BsplineParameters", BsplineParameters(n, m), promotes=['*'])
self.add("Attitude_Angular", Attitude_Angular(n), promotes=['*'])
self.add("Attitude_AngularRates",
Attitude_AngularRates(n, h),
promotes=['*'])
self.add("Attitude_Attitude", Attitude_Attitude(n), promotes=['*'])
self.add("Attitude_Roll", Attitude_Roll(n), promotes=['*'])
self.add("Attitude_RotationMtx",
Attitude_RotationMtx(n),
promotes=['*'])
self.add("Attitude_RotationMtxRates",
Attitude_RotationMtxRates(n, h),
promotes=['*'])
# Not needed?
#self.add("Attitude_Sideslip", Attitude_Sideslip(n))
self.add("Attitude_Torque", Attitude_Torque(n), promotes=['*'])
self.add("BatteryConstraints", BatteryConstraints(n), promotes=['*'])
self.add("BatteryPower", BatteryPower(n), promotes=['*'])
self.add("BatterySOC", BatterySOC(n, h), promotes=['*'])
self.add("Comm_AntRotation", Comm_AntRotation(n), promotes=['*'])
self.add("Comm_AntRotationMtx", Comm_AntRotationMtx(n), promotes=['*'])
self.add("Comm_BitRate", Comm_BitRate(n), promotes=['*'])
self.add("Comm_DataDownloaded",
Comm_DataDownloaded(n, h),
promotes=['*'])
self.add("Comm_Distance", Comm_Distance(n), promotes=['*'])
self.add("Comm_EarthsSpin", Comm_EarthsSpin(n), promotes=['*'])
self.add("Comm_EarthsSpinMtx", Comm_EarthsSpinMtx(n), promotes=['*'])
self.add("Comm_GainPattern",
Comm_GainPattern(n, comm_raw),
promotes=['*'])
self.add("Comm_GSposEarth", Comm_GSposEarth(n), promotes=['*'])
self.add("Comm_GSposECI", Comm_GSposECI(n), promotes=['*'])
self.add("Comm_LOS", Comm_LOS(n), promotes=['*'])
self.add("Comm_VectorAnt", Comm_VectorAnt(n), promotes=['*'])
self.add("Comm_VectorBody", Comm_VectorBody(n), promotes=['*'])
self.add("Comm_VectorECI", Comm_VectorECI(n), promotes=['*'])
self.add("Comm_VectorSpherical",
Comm_VectorSpherical(n),
promotes=['*'])
# Not needed?
#self.add("Orbit_Initial", Orbit_Initial())
self.add("Orbit_Dynamics", Orbit_Dynamics(n, h), promotes=['*'])
self.add("Power_CellVoltage",
Power_CellVoltage(n, power_raw),
promotes=['*'])
self.add("Power_SolarPower", Power_SolarPower(n), promotes=['*'])
self.add("Power_Total", Power_Total(n), promotes=['*'])
# Not needed?
#self.add("ReactionWheel_Motor", ReactionWheel_Motor(n))
self.add("ReactionWheel_Power", ReactionWheel_Power(n), promotes=['*'])
self.add("ReactionWheel_Torque",
ReactionWheel_Torque(n),
promotes=['*'])
self.add("ReactionWheel_Dynamics",
ReactionWheel_Dynamics(n, h),
promotes=['*'])
self.add("Solar_ExposedArea",
Solar_ExposedArea(n, solar_raw1, solar_raw2),
promotes=['*'])
self.add("Sun_LOS", Sun_LOS(n), promotes=['*'])
self.add("Sun_PositionBody", Sun_PositionBody(n), promotes=['*'])
self.add("Sun_PositionECI", Sun_PositionECI(n), promotes=['*'])
self.add("Sun_PositionSpherical",
Sun_PositionSpherical(n),
promotes=['*'])
self.add("ThermalTemperature",
ThermalTemperature(n, h),
promotes=['*'])
def __init__(self,
n,
m,
solar_raw1=None,
solar_raw2=None,
comm_raw=None,
power_raw=None):
super(CADRE, self).__init__()
# Analysis parameters
self.n = n
self.m = m
self.add(
't', Array(np.zeros((n, )),
size=(n, ),
dtype=np.float,
iotype="in"))
self.add('t1', Float(0., iotype='in'))
self.add('t2', Float(43200., iotype='in'))
h = (self.t2 - self.t1) / (self.n - 1)
self.add("h", Float(h, iotype="in", copy=None))
self.t = np.array(range(0, n)) * h
# Design parameters
self.add(
'CP_Isetpt',
Array(0.2 * np.ones((12, self.m)),
size=(12, self.m),
dtype=float,
iotype='in'))
self.add(
'CP_gamma',
Array(np.pi / 4 * np.ones((self.m, )),
size=(self.m, ),
dtype=float,
iotype='in'))
self.add(
'CP_P_comm',
Array(0.1 * np.ones((self.m, )),
size=(self.m, ),
dtype=float,
iotype='in'))
self.add(
'iSOC',
Array([0.5],
shape=(1, ),
dtype=np.float,
iotype="in",
desc="initial state of charge"))
self.add(
"cellInstd",
Array(np.ones((7, 12)),
size=(7, 12),
dtype=np.float,
iotype="in",
desc="Cell/Radiator indication",
low=0,
high=1))
self.add("finAngle", Float(np.pi / 4., iotype="in", copy=None))
self.add("antAngle", Float(0., iotype="in", copy=None))
# State parameters (?)
self.add("LD", Float(5000., iotype="in"))
self.add("lat", Float(42.2708, iotype="in"))
self.add("lon", Float(-83.7264, iotype="in"))
self.add("alt", Float(0.256, iotype="in"))
# McMurdo station: -77.85, 166.666667
# Ann Arbor: 42.2708, -83.7264
self.add(
'r_e2b_I0',
Array(np.zeros((6, )), size=(6, ), iotype="in", dtype=np.float))
# B-spline Parameters
self.add("BsplineParameters", BsplineParameters(n, m))
self.driver.workflow.add("BsplineParameters")
# Attitude components
self.add("Attitude_Angular", Attitude_Angular(n))
self.driver.workflow.add("Attitude_Angular")
self.add("Attitude_AngularRates", Attitude_AngularRates(n))
self.driver.workflow.add("Attitude_AngularRates")
self.add("Attitude_Attitude", Attitude_Attitude(n))
self.driver.workflow.add("Attitude_Attitude")
self.add("Attitude_Roll", Attitude_Roll(n))
self.driver.workflow.add("Attitude_Roll")
self.add("Attitude_RotationMtx", Attitude_RotationMtx(n))
self.driver.workflow.add("Attitude_RotationMtx")
self.add("Attitude_RotationMtxRates", Attitude_RotationMtxRates(n))
self.driver.workflow.add("Attitude_RotationMtxRates")
#self.add("Attitude_Sideslip", Attitude_Sideslip(n))
# self.driver.workflow.add("Attitude_Sideslip")
self.add("Attitude_Torque", Attitude_Torque(n))
self.driver.workflow.add("Attitude_Torque")
# Battery components
self.add("BatteryConstraints", BatteryConstraints(n))
self.driver.workflow.add("BatteryConstraints")
self.create_passthrough("BatteryConstraints.ConCh")
self.create_passthrough("BatteryConstraints.ConDs")
self.create_passthrough("BatteryConstraints.ConS0")
self.create_passthrough("BatteryConstraints.ConS1")
self.add("BatteryPower", BatteryPower(n))
self.driver.workflow.add("BatteryPower")
self.add("BatterySOC", BatterySOC(n))
self.driver.workflow.add("BatterySOC")
self.create_passthrough("BatterySOC.SOC")
# Comm components
self.add("Comm_AntRotation", Comm_AntRotation(n))
self.driver.workflow.add("Comm_AntRotation")
self.add("Comm_AntRotationMtx", Comm_AntRotationMtx(n))
self.driver.workflow.add("Comm_AntRotationMtx")
self.add("Comm_BitRate", Comm_BitRate(n))
self.driver.workflow.add("Comm_BitRate")
self.add("Comm_DataDownloaded", Comm_DataDownloaded(n))
self.driver.workflow.add("Comm_DataDownloaded")
# self.create_passthrough("Comm_DataDownloaded.Data_Final")
self.create_passthrough("Comm_DataDownloaded.Data")
self.add("Comm_Distance", Comm_Distance(n))
self.driver.workflow.add("Comm_Distance")
self.add("Comm_EarthsSpin", Comm_EarthsSpin(n))
self.driver.workflow.add("Comm_EarthsSpin")
self.add("Comm_EarthsSpinMtx", Comm_EarthsSpinMtx(n))
self.driver.workflow.add("Comm_EarthsSpinMtx")
self.add("Comm_GainPattern", Comm_GainPattern(n, comm_raw))
self.driver.workflow.add("Comm_GainPattern")
self.add("Comm_GSposEarth", Comm_GSposEarth(n))
self.driver.workflow.add("Comm_GSposEarth")
self.add("Comm_GSposECI", Comm_GSposECI(n))
self.driver.workflow.add("Comm_GSposECI")
self.add("Comm_LOS", Comm_LOS(n))
self.driver.workflow.add("Comm_LOS")
self.add("Comm_VectorAnt", Comm_VectorAnt(n))
self.driver.workflow.add("Comm_VectorAnt")
self.add("Comm_VectorBody", Comm_VectorBody(n))
self.driver.workflow.add("Comm_VectorBody")
self.add("Comm_VectorECI", Comm_VectorECI(n))
self.driver.workflow.add("Comm_VectorECI")
self.add("Comm_VectorSpherical", Comm_VectorSpherical(n))
self.driver.workflow.add("Comm_VectorSpherical")
# Orbit components
#self.add("Orbit_Initial", Orbit_Initial())
#self.driver.workflow.add("Orbit_Initial")
self.add("Orbit_Dynamics", Orbit_Dynamics(n))
self.driver.workflow.add("Orbit_Dynamics")
# Power
self.add("Power_CellVoltage", Power_CellVoltage(n, power_raw))
self.driver.workflow.add("Power_CellVoltage")
self.add("Power_SolarPower", Power_SolarPower(n))
self.driver.workflow.add("Power_SolarPower")
self.add("Power_Total", Power_Total(n))
self.driver.workflow.add("Power_Total")
# Reaction wheel components
#self.add("ReactionWheel_Motor", ReactionWheel_Motor(n))
# self.driver.workflow.add("ReactionWheel_Motor")
self.add("ReactionWheel_Power", ReactionWheel_Power(n))
self.driver.workflow.add("ReactionWheel_Power")
self.add("ReactionWheel_Torque", ReactionWheel_Torque(n))
self.driver.workflow.add("ReactionWheel_Torque")
self.add("ReactionWheel_Dynamics", ReactionWheel_Dynamics(n))
self.driver.workflow.add("ReactionWheel_Dynamics")
# Solar
self.add("Solar_ExposedArea",
Solar_ExposedArea(n, solar_raw1, solar_raw2))
self.driver.workflow.add("Solar_ExposedArea")
# Sun components
self.add("Sun_LOS", Sun_LOS(n))
self.driver.workflow.add("Sun_LOS")
self.add("Sun_PositionBody", Sun_PositionBody(n))
self.driver.workflow.add("Sun_PositionBody")
self.add("Sun_PositionECI", Sun_PositionECI(n))
self.driver.workflow.add("Sun_PositionECI")
self.add("Sun_PositionSpherical", Sun_PositionSpherical(n))
self.driver.workflow.add("Sun_PositionSpherical")
# Thermal temp components
self.add("ThermalTemperature", ThermalTemperature(n))
self.driver.workflow.add("ThermalTemperature")
#self.add("debug", debug())
#self.debug.force_execute = True
# self.driver.workflow.add("debug")
self.make_connections()