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Remove automatic reads from virtual drive and pid

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This commit is contained in:
Alexander Nozik 2023-11-02 15:36:10 +03:00
parent 811477a636
commit 2698cee80b
3 changed files with 3 additions and 3 deletions
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3
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/Drive.kt
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@ -48,7 +48,7 @@ public class VirtualDrive(
public val positionState: MutableDeviceState<Double>, public val positionState: MutableDeviceState<Double>,
) : Drive, DeviceBySpec<Drive>(Drive, context) { ) : Drive, DeviceBySpec<Drive>(Drive, context) {
private val dt = meta["time.step"].double?.milliseconds ?: 5.milliseconds private val dt = meta["time.step"].double?.milliseconds ?: 1.milliseconds
private val clock = context.clock private val clock = context.clock
override var force: Double = 0.0 override var force: Double = 0.0
@ -73,7 +73,6 @@ public class VirtualDrive(
// compute new value based on velocity and acceleration from the previous step // compute new value based on velocity and acceleration from the previous step
positionState.value += velocity * dtSeconds + force / mass * dtSeconds.pow(2) / 2 positionState.value += velocity * dtSeconds + force / mass * dtSeconds.pow(2) / 2
propertyChanged(Drive.position, positionState.value)
// compute new velocity based on acceleration on the previous step // compute new velocity based on acceleration on the previous step
velocity += force / mass * dtSeconds velocity += force / mass * dtSeconds

1
controls-constructor/src/commonMain/kotlin/space/kscience/controls/constructor/PidRegulator.kt
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@ -62,7 +62,6 @@ public class PidRegulator(
lastPosition = drive.position lastPosition = drive.position
drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative drive.force = pidParameters.kp * delta + pidParameters.ki * integral + pidParameters.kd * derivative
propertyChanged(Regulator.position, drive.position)
} }
} }
} }

2
demo/constructor/src/jvmMain/kotlin/main.kt
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@ -11,6 +11,7 @@ import space.kscience.controls.manager.DeviceManager
import space.kscience.controls.manager.clock import space.kscience.controls.manager.clock
import space.kscience.controls.spec.doRecurring import space.kscience.controls.spec.doRecurring
import space.kscience.controls.spec.name import space.kscience.controls.spec.name
import space.kscience.controls.spec.read
import space.kscience.controls.spec.write import space.kscience.controls.spec.write
import space.kscience.controls.vision.plotDeviceProperty import space.kscience.controls.vision.plotDeviceProperty
import space.kscience.controls.vision.plotNumberState import space.kscience.controls.vision.plotNumberState
@ -66,6 +67,7 @@ public fun main() {
val target = 5 * sin(2.0 * PI * freq * t) + val target = 5 * sin(2.0 * PI * freq * t) +
sin(2 * PI * 21 * freq * t + 0.1 * (timeFromStart / pidParameters.timeStep)) sin(2 * PI * 21 * freq * t + 0.1 * (timeFromStart / pidParameters.timeStep))
pid.write(Regulator.target, target) pid.write(Regulator.target, target)
pid.read(Regulator.position)
} }
} }