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Make physics actually run

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There is still a weird jump at t=0 though
This commit is contained in:
Sélène Corbineau 2025-01-14 23:34:07 +01:00
parent 59636d22cd
commit 263565c98f
1 changed files with 11 additions and 6 deletions
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17
simulator.py
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@ -60,6 +60,7 @@ class Simulator:
with socket.SocketIO(self.s, 'r') as buffer: with socket.SocketIO(self.s, 'r') as buffer:
try: try:
time.sleep(1e-5) time.sleep(1e-5)
self.simulate()
req = buffer.readline() req = buffer.readline()
self.s.setblocking(True) self.s.setblocking(True)
match req: match req:
@ -77,6 +78,9 @@ class Simulator:
except OSError: except OSError:
pass pass
def simulate(self):
pass
def realize(self): def realize(self):
pass pass
@ -100,13 +104,14 @@ class Douche:
self.xs = [] self.xs = []
self.ys = [] self.ys = []
self.line, = self.ax.plot(self.xs, self.ys)#, color=self.cm) self.line, = self.ax.plot(self.xs, self.ys)#, color=self.cm)
plt.show()
def add_point(self, x, y): def add_point(self, x, y):
print(x, y)
self.xs.append(x) self.xs.append(x)
self.ys.append(y) self.ys.append(y)
self.line.set_data(self.xs, self.ys) self.line.set_data(self.xs, self.ys)
plt.draw() plt.draw()
plt.show()
class NaiveSimulator(Simulator, Douche): class NaiveSimulator(Simulator, Douche):
@ -115,9 +120,9 @@ class NaiveSimulator(Simulator, Douche):
time_step = 0 time_step = 0
last_update = 0. last_update = 0.
J = [1., 1., 1.] # Moment of inertia vector times 1/R J = np.array([1., 1., 1.]) # Moment of inertia vector times 1/R
f = [0., 0., 0.] # viscous friction coefficient f = np.array([0., 0., 0.]) # viscous friction coefficient
G = [1., 1., 1.] # Motor gain : Gamma = G * delta_w G = np.array([1., 1., 1.]) # Motor gain : Gamma = G * delta_w
# FIXME: this is not very realistic, this looks like a model of # FIXME: this is not very realistic, this looks like a model of
# an asynchronous motor, not a stepper. # an asynchronous motor, not a stepper.
@ -134,9 +139,9 @@ class NaiveSimulator(Simulator, Douche):
lt = time.time() lt = time.time()
self.time_step = lt - self.last_update self.time_step = lt - self.last_update
self.last_update = lt self.last_update = lt
gamma = G*(command_spd - spd) gamma = self.G*(self.command_spd - self.speed)
self.speed += 1./J * (G - f*self.speed ) * self.time_step self.speed += 1./self.J * (self.G - self.f*self.speed ) * self.time_step
self.pos += self.speed * self.time_step self.pos += self.speed * self.time_step
self.steps = np.ceil(self.pos * np.array([self.X_STEPS_PER_MM, self.steps = np.ceil(self.pos * np.array([self.X_STEPS_PER_MM,