177 lines
4.4 KiB
Plaintext
177 lines
4.4 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"collapsed": true
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},
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"outputs": [],
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"source": [
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"USE(ControlsJupyter())"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"outputs": [],
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"source": [
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"class LinearDrive(\n",
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" context: Context,\n",
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" state: DoubleRangeState,\n",
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" mass: Double,\n",
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" pidParameters: PidParameters,\n",
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" meta: Meta = Meta.EMPTY,\n",
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") : DeviceConstructor(context.request(DeviceManager), meta) {\n",
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"\n",
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" val drive by device(VirtualDrive.factory(mass, state))\n",
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" val pid by device(PidRegulator(drive, pidParameters))\n",
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"\n",
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" val start by device(LimitSwitch.factory(state.atStartState))\n",
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" val end by device(LimitSwitch.factory(state.atEndState))\n",
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"\n",
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"\n",
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" val position by property(state)\n",
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" var target by mutableProperty(pid.mutablePropertyAsState(Regulator.target, 0.0))\n",
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"}\n"
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],
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"metadata": {
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"collapsed": false
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}
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"outputs": [],
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"source": [
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"import kotlin.time.Duration.Companion.milliseconds\n",
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"import kotlin.time.Duration.Companion.seconds\n",
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"\n",
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"val state = DoubleRangeState(0.0, -5.0..5.0)\n",
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"\n",
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"val pidParameters = PidParameters(\n",
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" kp = 2.5,\n",
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" ki = 0.0,\n",
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" kd = -0.1,\n",
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" timeStep = 0.005.seconds\n",
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")\n",
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"\n",
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"val device = context.install(\"device\", LinearDrive(context, state, 0.005, pidParameters))"
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],
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"metadata": {
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"collapsed": false
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}
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"outputs": [],
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"source": [
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"\n",
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"val job = device.run {\n",
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" val clock = context.clock\n",
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" val clockStart = clock.now()\n",
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" doRecurring(10.milliseconds) {\n",
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" val timeFromStart = clock.now() - clockStart\n",
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" val t = timeFromStart.toDouble(DurationUnit.SECONDS)\n",
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" val freq = 0.1\n",
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"\n",
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" target = 5 * sin(2.0 * PI * freq * t) +\n",
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" sin(2 * PI * 21 * freq * t + 0.02 * (timeFromStart / pidParameters.timeStep))\n",
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" }\n",
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"}"
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],
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"metadata": {
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"collapsed": false
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}
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"outputs": [],
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"source": [
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"val maxAge = 10.seconds\n",
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"\n",
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"\n",
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"VisionForge.fragment {\n",
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" vision {\n",
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" plotly {\n",
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" plotNumberState(context, state, maxAge = maxAge) {\n",
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" name = \"real position\"\n",
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" }\n",
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" plotDeviceProperty(device.pid, Regulator.position.name, maxAge = maxAge) {\n",
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" name = \"read position\"\n",
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" }\n",
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"\n",
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" plotDeviceProperty(device.pid, Regulator.target.name, maxAge = maxAge) {\n",
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" name = \"target\"\n",
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" }\n",
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" }\n",
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" }\n",
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"\n",
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" vision {\n",
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" plotly {\n",
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" plotDeviceProperty(device.start, LimitSwitch.locked.name, maxAge = maxAge) {\n",
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" name = \"start measured\"\n",
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" mode = ScatterMode.markers\n",
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" }\n",
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" plotDeviceProperty(device.end, LimitSwitch.locked.name, maxAge = maxAge) {\n",
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" name = \"end measured\"\n",
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" mode = ScatterMode.markers\n",
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" }\n",
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" }\n",
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" }\n",
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"}"
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],
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"metadata": {
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"collapsed": false
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}
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"outputs": [],
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"source": [
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"import kotlinx.coroutines.cancel\n",
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"\n",
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"job.cancel()"
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],
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"metadata": {
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"collapsed": false
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}
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"outputs": [],
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"source": [],
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"metadata": {
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"collapsed": false
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}
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Kotlin",
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"language": "kotlin",
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"name": "kotlin"
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},
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"language_info": {
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"name": "kotlin",
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"version": "1.9.0",
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"mimetype": "text/x-kotlin",
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"file_extension": ".kt",
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"pygments_lexer": "kotlin",
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"codemirror_mode": "text/x-kotlin",
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"nbconvert_exporter": ""
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},
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"ktnbPluginMetadata": {
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"projectDependencies": [
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"controls-kt.controls-jupyter.jvmMain"
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]
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}
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},
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"nbformat": 4,
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}
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