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2 Commits
9f21a14f96
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91f860adf6
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91f860adf6 | |||
1799a9a909 |
@ -26,17 +26,23 @@ public class MaterialPoint(
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private var currentForce = force.value
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private val movement = onTimer(
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DefaultTimer.REALTIME,
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reads = setOf(velocity, position),
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writes = setOf(velocity, position)
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) { prev, next ->
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val dtSeconds = (next - prev).toDouble(DurationUnit.SECONDS)
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// compute new value based on velocity and acceleration from the previous step
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position.value += (velocity.value * dtSeconds).cast(Meters) +
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val deltaR = (velocity.value * dtSeconds).cast(Meters) +
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(currentForce / mass.value * dtSeconds.pow(2) / 2).cast(Meters)
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position.value += deltaR
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// compute new velocity based on acceleration on the previous step
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velocity.value += (currentForce / mass.value * dtSeconds).cast(MetersPerSecond)
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val deltaV = (currentForce / mass.value * dtSeconds).cast(MetersPerSecond)
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//TODO apply energy correction
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//val work = deltaR.length.value * currentForce.length.value
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velocity.value += deltaV
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currentForce = force.value
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}
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}
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@ -1,5 +1,8 @@
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package space.kscience.controls.constructor.units
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import kotlin.math.pow
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import kotlin.math.sqrt
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public data class XY<U : UnitsOfMeasurement>(val x: NumericalValue<U>, val y: NumericalValue<U>)
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public fun <U : UnitsOfMeasurement> XY(x: Number, y: Number): XY<U> = XY(NumericalValue(x), NumericalValue((y)))
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@ -18,6 +21,11 @@ public data class XYZ<U : UnitsOfMeasurement>(
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val z: NumericalValue<U>,
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)
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public val <U : UnitsOfMeasurement> XYZ<U>.length: NumericalValue<U>
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get() = NumericalValue(
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sqrt(x.value.pow(2) + y.value.pow(2) + z.value.pow(2))
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)
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public fun <U : UnitsOfMeasurement> XYZ(x: Number, y: Number, z: Number): XYZ<U> =
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XYZ(NumericalValue(x), NumericalValue((y)), NumericalValue(z))
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@ -16,8 +16,6 @@ import space.kscience.controls.constructor.models.MaterialPoint
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import space.kscience.controls.constructor.units.*
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import space.kscience.dataforge.context.Context
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import java.awt.Dimension
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import kotlin.math.pow
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import kotlin.math.sqrt
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private class Spring(
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@ -33,7 +31,7 @@ private class Spring(
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*/
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val tension: DeviceState<XYZ<Newtons>> = combineState(begin, end) { begin: XYZ<Meters>, end: XYZ<Meters> ->
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val delta = end - begin
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val l = sqrt(delta.x.value.pow(2) + delta.y.value.pow(2) + delta.z.value.pow(2))
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val l = delta.length.value
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((delta / l) * k * (l - l0.value)).cast(Newtons)
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}
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}
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@ -87,7 +85,7 @@ private class BodyOnSprings(
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}
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fun main() = application {
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val initialState = XYZ<Meters>(0.01, 0.1, 0)
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val initialState = XYZ<Meters>(0, 0.4, 0)
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Window(title = "Ball on springs", onCloseRequest = ::exitApplication) {
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window.minimumSize = Dimension(400, 400)
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@ -11,11 +11,10 @@ import androidx.compose.ui.graphics.Color
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import androidx.compose.ui.window.Window
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import androidx.compose.ui.window.application
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import kotlinx.coroutines.delay
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import kotlinx.coroutines.flow.launchIn
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import kotlinx.coroutines.flow.onEach
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import kotlinx.coroutines.isActive
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import kotlinx.coroutines.launch
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import space.kscience.controls.constructor.DeviceConstructor
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import space.kscience.controls.constructor.MutableDeviceState
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import space.kscience.controls.constructor.device
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import space.kscience.controls.constructor.*
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import space.kscience.controls.constructor.devices.StepDrive
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import space.kscience.controls.constructor.devices.angle
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import space.kscience.controls.constructor.models.ScrewDrive
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@ -28,7 +27,7 @@ import java.awt.Dimension
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import kotlin.random.Random
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class Plotter(
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private class Plotter(
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context: Context,
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xDrive: StepDrive,
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yDrive: StepDrive,
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@ -42,16 +41,16 @@ class Plotter(
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yDrive.target.value = y.toLong()
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}
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// val position = combineState(xDrive.position, yDrive.position) { x, y ->
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// space.kscience.controls.constructor.models.XY(x, y)
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// }
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val ticks = combineState(xDrive.position, yDrive.position) { x, y ->
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x to y
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}
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//TODO add calibration
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// TODO add draw as action
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}
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suspend fun Plotter.modernArt(xRange: IntRange, yRange: IntRange) {
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private suspend fun Plotter.modernArt(xRange: IntRange, yRange: IntRange) {
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while (isActive) {
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val randomX = Random.nextInt(xRange.first, xRange.last)
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val randomY = Random.nextInt(yRange.first, yRange.last)
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@ -62,7 +61,7 @@ suspend fun Plotter.modernArt(xRange: IntRange, yRange: IntRange) {
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}
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}
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suspend fun Plotter.square(xRange: IntRange, yRange: IntRange) {
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private suspend fun Plotter.square(xRange: IntRange, yRange: IntRange) {
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while (isActive) {
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moveToXY(xRange.first, yRange.first)
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delay(1000)
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@ -94,12 +93,33 @@ private data class PlotterPoint(
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val color: Color = Color.Black,
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)
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private class PlotterModel(
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context: Context,
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val callback: (PlotterPoint) -> Unit,
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) : ModelConstructor(context) {
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private val xDrive = StepDrive(context, ticksPerSecond)
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private val xTransmission = ScrewDrive(context, NumericalValue(0.01))
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val x = xTransmission.degreesToMeters(xDrive.angle(step)).coerceIn(xRange)
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private val yDrive = StepDrive(context, ticksPerSecond)
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private val yTransmission = ScrewDrive(context, NumericalValue(0.01))
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val y = yTransmission.degreesToMeters(yDrive.angle(step)).coerceIn(yRange)
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val xy: DeviceState<XY<Meters>> = combineState(x, y) { x, y -> XY(x, y) }
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val plotter = Plotter(context, xDrive, yDrive) { color ->
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println("Point X: ${x.value.value}, Y: ${y.value.value}, color: $color")
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callback(PlotterPoint(x.value, y.value, color))
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}
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}
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suspend fun main() = application {
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Window(title = "Pid regulator simulator", onCloseRequest = ::exitApplication) {
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window.minimumSize = Dimension(400, 400)
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val points = remember { mutableStateListOf<PlotterPoint>() }
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var position by remember { mutableStateOf(PlotterPoint(NumericalValue(0), NumericalValue(0))) }
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var position by remember { mutableStateOf(XY<Meters>(0, 0)) }
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LaunchedEffect(Unit) {
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val context = Context {
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@ -109,42 +129,23 @@ suspend fun main() = application {
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/* Here goes the device definition block */
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val xDrive = StepDrive(context, ticksPerSecond)
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val xTransmission = ScrewDrive(context, NumericalValue(0.01))
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val x = xTransmission.degreesToMeters(xDrive.angle(step)).coerceIn(xRange)
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val yDrive = StepDrive(context, ticksPerSecond)
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val yTransmission = ScrewDrive(context, NumericalValue(0.01))
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val y = yTransmission.degreesToMeters(yDrive.angle(step)).coerceIn(yRange)
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val plotter = Plotter(context, xDrive, yDrive) { color ->
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println("Point X: ${x.value.value}, Y: ${y.value.value}, color: $color")
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points.add(PlotterPoint(x.value, y.value, color))
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val plotterModel = PlotterModel(context) { plotterPoint ->
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points.add(plotterPoint)
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}
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/* Start visualization program */
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launch {
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x.valueFlow.collect {
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position = position.copy(x = it)
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}
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}
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launch {
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y.valueFlow.collect {
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position = position.copy(y = it)
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}
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}
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plotterModel.xy.valueFlow.onEach {
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position = it
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}.launchIn(this)
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/* run program */
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launch {
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val range = -1000..1000
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// plotter.modernArt(range, range)
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plotter.square(range, range)
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}
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plotterModel.plotter.square(range, range)
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}
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