Create ramp input

ramp.py

import numpy
import matplotlib.pyplot as plt

n = 400
Ts = 0.1
t = numpy.linspace(0,n,n+1)*Ts
out_max = 0.3
y_ref = numpy.ones(n+1)*out_max
zero_time = 2.0
start = int(zero_time/Ts)
y_ref[0:start] = 0.0 #first 2 seconds equal to zero
movement_period = 4
total_movement_time = int(movement_period/Ts)
for i in range(0,total_movement_time):
  y_ref[i+start] = i*out_max/total_movement_time


plt.plot(t, y_ref)
plt.grid()
plt.show()