def first (dst, d, v, stat):
if dst > 360.+stat["d_ca"]+stat["tr"]:
d = d + [360., dst-360.-stat["d_ca"]-stat["tr"], stat["d_ca"], stat["tr"]]
v = v + [stat["v_a"], stat["v_a"], stat["v_c"], stat["v_c"]]
elif dst > stat["tr"]+stat["d_0c"]:
d1 = (stat["v_c"]*stat["v_c"] + 2*stat["a"]*(dst-stat["tr"]))/(4*stat["a"])
d2 = dst-d1-stat["tr"]
new_v = kn.find_v({"v0": 0., "a": stat["a"], "d": d1})
d = d + [d1, d2, stat["tr"]]
v = v + [new_v, stat["v_c"], stat["v_c"]]
elif dst > stat["d_0c"]:
d = d + [stat["d_0c"], dst-stat["d_0c"]]
v = v + [stat["v_c"], stat["v_c"]]
else:
new_v = kn.find_v({"v0": 0., "a": stat["a"], "d": dst})
d = d + [dst]
v = v + [new_v]
return (d, v)
def last_straight (dst, d, v, stat):
if dst > 360.:
d = d + [360., dst-360.]
v = v + [stat["v_a"], stat["v_a"]]
else:
new_v = kn.find_v({"v0": 0., "a": stat["a"], "d": dst})
d = d + [dst]
v = v + [new_v]
return (d, v)
def first_straight (dst, d, v, stat):
if dst > 360.:
d = d + [dst-360., 360.]
v = v + [stat["v_a"], 0.]
else:
print("Please enter door slowly.")
new_v = kn.find_v({"v0": 0., "a": stat["a"], "d": dst})
d = d + [dst]
v = [new_v, 0.]
return (d, v)
def middle_straight (dst, d, v, stat):
if dst > 2*360.:
d = d + [360., dst-2*360., 360.]
v = v + [stat["v_a"], stat["v_a"], 0.]
else:
dst2 = dst/2
new_v = kn.find_v({"v0": 0., "a": stat["a"], "d": dst2})
d = d + [dst2, dst2]
v = v + [new_v, 0.]
return (d, v)
def last_end (dst, d, v, stat):
if dst > stat["tr"]+stat["d_ca"]:
d = d + [stat["tr"], stat["d_ca"], dst-stat["tr"]-stat["d_ca"]]
v = v + [stat["v_c"], stat["v_a"], stat["v_a"]]
elif dst > stat["tr"]:
new_v = kn.find_v({"v0": stat["v_c"], "a": stat["a"], "d": dst-stat["tr"]})
d = d + [stat["tr"], dst-stat["tr"]]
v = v + [stat["v_c"], new_v]
else:
d = d + [dst]
v = v + [stat["v_c"]]
return (d, v)
def first_start (dst, d, v, stat):
if dst > stat["d_ca"]+stat["tr"]:
d = d + [dst-stat["d_ca"]-stat["tr"], stat["d_ca"], stat["tr"]]
v = v + [stat["v_a"], stat["v_c"], stat["v_c"]]
elif dst > stat["d_ca"]:
d = d + [dst-stat["d_ca"], stat["d_ca"]]
v = v + [stat["v_a"], stat["v_c"]]
else:
print("Please enter door slowly.")
d = d + [dst]
new_v = kn.find_v({"v0": stat["v_c"], "a": stat["a"], "d": dst})
v = [new_v, stat["v_c"]]
return (d, v)
def middle (lengths, d, v, stat):
for i in range(1, len(lengths)-1):
dst = lengths[i]
if dst > 2*(stat["d_ca"]+2*stat["tr"]):
d = d + [stat["tr"], stat["d_ca"], dst-2*(stat["d_ca"]+stat["tr"]), stat["d_ca"], stat["tr"]]
v = v + [stat["v_c"], stat["v_a"], stat["v_a"], stat["v_c"], stat["v_c"]]
elif dst > 2*stat["tr"]:
dst2 = (dst-2*stat["tr"])/2
new_v = kn.find_v({"v0": stat["v_c"], "a": stat["a"], "d": dst2})
d = d + [stat["tr"], dst2, dst2, stat["tr"]]
v = v + [stat["v_c"], new_v, stat["v_c"], stat["v_c"]]
else:
d = d + [dst]
v = v + [stat["v_c"]]
return (d, v)
def last (dst, d, v, stat):
if dst > stat["tr"]+stat["d_ca"]+360.:
d = d + [stat["tr"], stat["d_ca"], dst-stat["tr"]-stat["d_ca"]-360., 360.]
v = v + [stat["v_c"], stat["v_a"], stat["v_a"], 0.]
elif dst > stat["tr"]+stat["d_0c"]:
d2 = (stat["v_c"]*stat["v_c"] + 2*stat["a"]*(dst-stat["tr"]))/(4*stat["a"])
d1 = dst-d2-stat["tr"]
new_v = kn.find_v({"v0": stat["v_c"], "a": stat["a"], "d": d1})
d = d + [stat["tr"], d1, d2]
v = v + [stat["v_c"], new_v, 0.]
elif dst > stat["d_0c"]:
d = d + [dst-stat["d_0c"], stat["d_0c"]]
v = v + [stat["v_c"], 0.]
else:
d = d + [dst]
v = v + [0.]
return (d, v)
def v_crl(self): return kn.find_v({"v0": self.type["v_rl"], "a": -1*self.type["a_rl"], "d": 360-self.type["tr"]})
def lift_nl(self): return self.type["lift_nl"]