A file to generate acceleration, velocity, and position vs. time data for a simulated TacoCopter
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
import math | |
import random | |
mass_object = 3. | |
drag_coefficient = 0.3 | |
g = 9.8 | |
dt = 0.1 | |
total_T = 30 # final time in seconds | |
v_max = 10 #maximum speed of tacocopter | |
b = 0.1 #constant for tweaking the rate of acceleration of the tacocopter | |
c = 0.5 | |
initial_v = 0. | |
initial_x = 0. | |
setpoint_x = 100 | |
accel_max = 5.6 | |
N = int(total_T*1/dt) | |
print N | |
t = [0] | |
accel = [] | |
v = [initial_v] | |
x = [initial_x] | |
for i in range(N): | |
curr_accel = b*(setpoint_x - x[i])-c*v[i]+random.gauss(0,0.5) | |
if (abs(curr_accel)>accel_max): | |
if (curr_accel>0): | |
curr_accel = accel_max +random.gauss(0,0.1) | |
else: | |
curr_accel = -accel_max -random.gauss(0,0.5) | |
accel.append(curr_accel) | |
new_v = v[i] + curr_accel*dt | |
v.append(new_v) | |
new_x = x[i] + v[i]*dt + 0.5*curr_accel*dt**2 | |
x.append(new_x) | |
new_t = (i+1)*dt | |
t.append(new_t) | |
outFile = open('TacoCopter.csv','w') | |
for i in range(N): | |
print '%.5f; %.5f; %.5f; %.5f' % (t[i], x[i], v[i], accel[i]) | |
s = str(t[i]) + ',' + str(x[i]) + ',' + str(v[i]) + ',' + str(accel[i]) | |
outFile.write(s) | |
outFile.write('\n') | |
outFile.close() | |
outFile = open('TacoCopter-short.csv','w') #this file is for generating a table of only integral values of time. | |
i = 0 | |
while(i<N): | |
s = str(t[i]) + ',' + str(x[i]) + ',' + str(v[i]) + ',' + str(accel[i]) | |
outFile.write(s) | |
outFile.write('\n') | |
i = i + 10 | |
outFile.close() |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment