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fix bugs in new simulation and motor controller

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This commit is contained in:
Andrew Johnson 2018-04-07 16:53:32 -06:00
parent b42c902ef8
commit 7d9159cd97
3 changed files with 16 additions and 6 deletions
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9
Chapter03/src/lib.rs
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@ -68,11 +68,13 @@ impl<'a, W: Write> DataRecorder for SimpleDataRecorder<'a, W>
{
self.esp = esp.clone();
self.log.write_all(serde_json::to_string(&esp.clone()).unwrap().as_bytes()).expect("write spec to log");
self.log.write_all(b"\r\n").expect("write spec to log");
}
fn poll(&mut self, est: ElevatorState, dst: u64)
{
let datum = (est.clone(), dst);
self.log.write_all(serde_json::to_string(&datum).unwrap().as_bytes()).expect("write state to log");
self.log.write_all(b"\r\n").expect("write state to log");
//5.4. Print realtime statistics
print!("{}{}{}", clear::All, cursor::Goto(1, 1), cursor::Hide);
@ -135,14 +137,17 @@ pub fn run_simulation()
location: 0.0,
velocity: 0.0,
acceleration: 0.0,
motor_input: MotorInput::Up { voltage: 0.0 }
motor_input: MotorInput::Up {
//zero is positive force to counter gravity
voltage: 9.8 * (120000.0 / 8.0)
}
};
//3. Store input building description and floor requests
let mut esp = ElevatorSpecification {
floor_count: 0,
floor_height: 0.0,
carriage_weight: 0.0
carriage_weight: 120000.0
};
let mut floor_requests = Vec::new();

6
Chapter03/src/motor.rs
View File

@ -165,7 +165,11 @@ impl MotorController for SmoothMotorController
let gravity_adjusted_acceleration = target_acceleration + 9.8;
let target_force = gravity_adjusted_acceleration * self.esp.carriage_weight;
let target_voltage = target_force / 8.0;
if target_voltage > 0.0 {
if !target_voltage.is_finite() {
//divide by zero etc.
//may happen if time delta underflows
MotorInput::Up { voltage: 0.0 }
} else if target_voltage > 0.0 {
MotorInput::Up { voltage: target_voltage }
} else {
MotorInput::Down { voltage: target_voltage.abs() }

7
Chapter03/src/physics.rs
View File

@ -82,6 +82,7 @@ pub fn simulate_elevator<MC: MotorController, DR: DataRecorder>(esp: ElevatorSpe
//5. Loop while there are remaining floor requests
let original_ts = Instant::now();
thread::sleep(time::Duration::from_millis(10));
while req.len() > 0
{
//5.1. Update location, velocity, and acceleration
@ -108,12 +109,12 @@ pub fn simulate_elevator<MC: MotorController, DR: DataRecorder>(esp: ElevatorSpe
req.remove(0);
}
//5.3. Adjust motor control to process next floor request
est.motor_input = mc.poll(est.clone(), next_floor);
//5.4. Print realtime statistics
dr.poll(est.clone(), next_floor);
//5.3. Adjust motor control to process next floor request
est.motor_input = mc.poll(est.clone(), next_floor);
thread::sleep(time::Duration::from_millis(10));
}
}