def run_sim():
# create the model
dae = carousel_dae.makeDae()
# compute the steady state
steady_state, _ = getSteadyState(dae, 100, 20)
# create the sim
dt = 0.01
sim = rawe.sim.Sim(dae, dt)
communicator = Communicator()
joy = Joy()
# set the initial state from steady_state
sim_x = {}
for name in dae.xNames():
sim_x[name] = steady_state[name]
sim_u = {}
for name in dae.uNames():
sim_u[name] = steady_state[name]
sim_p = {}
for name in dae.pNames():
sim_p[name] = steady_state[name]
# set up the sim timer
timer = rawe.sim.Timer(dt)
timer.start()
# loop through and simulate
# if there's an error close the communicator and throw exception
sim_time = 0.0
try:
while True:
# sleep for dt
timer.sleep()
print "running: "+str(sim_time)
# send message to visualizer/plotter
communicator.send_kite(sim_x, sim_u, sim_p,
sim.getOutputs(sim_x, sim_u, sim_p))
# try to take a simulation step of dt
try:
js = joy.getAll()
rudder = js['axes'][0]*numpy.radians(5)
aileron = js['axes'][3]*numpy.radians(5)
elevator = js['axes'][4]*numpy.radians(5)
#print "rudder: ",rudder
#print "aileron: ",aileron
#print "elevator: ",elevator
sim_x['rudder'] = rudder
sim_x['aileron'] = aileron
sim_x['elevator'] = elevator
sim_x = sim.step(sim_x, sim_u, sim_p)
except RuntimeError:
# problem simulating, close the communicator
communicator.close()
raise Exception('OH NOES, IDAS CHOKED')
sim_time += dt
except KeyboardInterrupt:
print "closing..."
communicator.close()
ocp.lookup('endTime'))
return ocp
if __name__ == '__main__':
print "reading config..."
# from carousel_conf import conf
#from highwind_carousel_conf import conf
from rawe.models.betty_conf import makeConf
nk = 100 * numLoops
# nk = 70
print "creating model..."
conf = makeConf()
dae = carousel_dae.makeDae(conf)
dae.addP('endTime')
conf['minAltitude'] = 0.5
print "setting up ocp..."
nicp = 1
deg = 4
collPoly = 'RADAU'
#collPoly='LEGENDRE'
ocp = setupOcp(dae, conf, nk, nicp, deg, collPoly)
# spawn telemetry thread
callback = rawe.telemetry.startTelemetry(
ocp,
callbacks=[(rawe.telemetry.trajectoryCallback(toProto,
Trajectory,
def get_steady_state_guess():
ddelta = nTurns*2*pi/(ocp._guess.lookup('endTime'))
from rawekite.carouselSteadyState import getSteadyState
conf_ss = makeConf()
steadyState,_ = getSteadyState(carousel_dae.makeDae(conf_ss), None, ddelta, lineRadiusGuess, {})
return steadyState
# boundary conditions
ocp.bound('sin_delta', (0,0), timestep=0, quiet=True)
ocp.bound('cos_delta', (0.5,1.5), timestep=0, quiet=True)
ocp.bound('cos_delta', (0.5,1.5), timestep=-1, quiet=True)
return ocp
if __name__=='__main__':
from rawe.models.betty_conf import makeConf
conf = makeConf()
conf['runHomotopy'] = True
conf['minAltitude'] = 0.5
nk = 75
dae = carousel_dae.makeDae(conf)
dae.addP('endTime')
print "setting up ocp..."
ocp = setupOcp(dae,conf,nk)
lineRadiusGuess = 4.0
nTurns = 1
# trajectory for homotopy
def get_steady_state_guess():
ddelta = nTurns*2*pi/(ocp._guess.lookup('endTime'))
from rawekite.carouselSteadyState import getSteadyState
conf_ss = makeConf()
steadyState,_ = getSteadyState(carousel_dae.makeDae(conf_ss), None, ddelta, lineRadiusGuess, {})
return steadyState
def get_steady_state_guess():
from rawekite.carouselSteadyState import getSteadyState
conf_ss = makeConf()
steadyState,_ = getSteadyState(carousel_dae.makeDae(conf_ss), None, ddelta0, lineRadiusGuess, {})
return steadyState