from D_dynamics import D_dynamics
from D_controller import D_controller
from signalGenerator import signalGenerator
from D_animation import D_animation
from plotData import plotData
# from preFilter import LSFControl as LSF
# instantiate arm, controller, and reference classes
msd = D_dynamics()
ctrl = D_controller()
# F = LSF()
reference = signalGenerator(amplitude=1.0, frequency=0.05, y_offset=0.0)
# instantiate the simulation plots and animation
dataPlot = plotData()
animation = D_animation()
t = P.t_start # time starts at t_start
while t < P.t_end: # main simulation loop
# Get referenced inputs from signal generators
ref_input = reference.square(t)
# ref_input = reference.square(t)
# Propagate dynamics in between plot samples
t_next_plot = t + P.t_plot
while t < t_next_plot: # updates control and dynamics at faster simulation rate
u = ctrl.u(ref_input, msd.outputs()) # Calculate the control value
msd.propagateDynamics(u) # Propagate the dynamics
t = t + P.Ts # advance time by Ts
# update animation and data plots
animation.drawAll(msd.states())
dataPlot.updatePlots(t, ref_input, msd.states(), u)
import D_param as P
from signalGenerator import signalGenerator
from D_animation import D_animation
# from plotData import plotData
# import matplotlib.patches as patches
from D_dynamics import D_dynamics
# instantiate reference input classes
reference = signalGenerator(amplitude=2.5, frequency=0.01)
# thetaRef = signalGenerator(amplitude=2.0*np.pi, frequency=0.01)
# tauRef = signalGenerator(amplitude=5, frequency=.5)
# instantiate the simulation plots and animation
system = D_dynamics()
# dataPlot = plotData()
animation = D_animation()
t = P.t_start # time starts at t_start
z = P.z0
while t < P.t_end: # main simulation loop
# set variables
# f = 2*P.k*P.z0
t_next_plot = t + P.t_plot
while t < t_next_plot:
f = reference.sin(t)
system.propagateDynamics([f])
z = system.state[0, 0]
t = t + P.Ts
# update animation
# state = [theta[0], 0.0]