second motor control
parent
f723aa9769
commit
960ff30181
@ -0,0 +1,77 @@
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extern crate floating_duration;
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use std::time::Instant;
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use floating_duration::{TimeAsFloat, TimeFormat};
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use physics::{ElevatorSpecification, ElevatorState, MotorInput, MotorController};
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pub struct SimpleMotorController
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{
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esp: ElevatorSpecification
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}
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impl MotorController for SimpleMotorController
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{
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fn init(&mut self, esp: ElevatorSpecification, est: ElevatorState)
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{
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self.esp = esp;
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}
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fn poll(&mut self, est: ElevatorState, dst: u64) -> MotorInput
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{
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//5.3. Adjust motor control to process next floor request
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//it will take t seconds to decelerate from velocity v at -1 m/s^2
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let t = est.velocity.abs() / 1.0;
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//during which time, the carriage will travel d=t * v/2 meters
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//at an average velocity of v/2 before stopping
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let d = t * (est.velocity/2.0);
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//l = distance to next floor
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let l = (est.location - (dst as f64)*self.esp.floor_height).abs();
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let target_acceleration = {
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//are we going up?
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let going_up = est.location < (dst as f64)*self.esp.floor_height;
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//Do not exceed maximum velocity
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if est.velocity.abs() >= 5.0 {
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if going_up==(est.velocity>0.0) {
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0.0
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//decelerate if going in wrong direction
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} else if going_up {
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1.0
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} else {
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-1.0
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}
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//if within comfortable deceleration range and moving in right direction, decelerate
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} else if l < d && going_up==(est.velocity>0.0) {
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if going_up {
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-1.0
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} else {
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1.0
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}
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//else if not at peak velocity, accelerate
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} else {
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if going_up {
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1.0
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} else {
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-1.0
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}
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}
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};
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let gravity_adjusted_acceleration = target_acceleration + 9.8;
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let target_force = gravity_adjusted_acceleration * self.esp.carriage_weight;
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let target_voltage = target_force / 8.0;
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if target_voltage > 0.0 {
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MotorInput::Up { voltage: target_voltage }
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} else {
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MotorInput::Down { voltage: target_voltage.abs() }
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}
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}
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}
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q
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q
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