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105 lines
3.4 KiB
Rust
105 lines
3.4 KiB
Rust
use physics::{ElevatorState, MAX_JERK, MAX_ACCELERATION, MAX_VELOCITY};
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use buildings::{Building, getCumulativeFloorHeight};
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pub trait MotionController
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{
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fn init(&mut self, esp: Box<Building>, est: ElevatorState);
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fn adjust(&mut self, est: &ElevatorState, dst: u64) -> f64;
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}
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pub struct SmoothMotionController
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{
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pub esp: Box<Building>,
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pub timestamp: f64
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}
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impl MotionController for SmoothMotionController
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{
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fn init(&mut self, esp: Box<Building>, est: ElevatorState)
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{
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self.esp = esp;
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self.timestamp = est.timestamp;
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}
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fn adjust(&mut self, est: &ElevatorState, dst: u64) -> f64
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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 reach max from max
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let t_accel = MAX_ACCELERATION / MAX_JERK;
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let t_veloc = MAX_VELOCITY / MAX_ACCELERATION;
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//it may take up to d meters to decelerate from current
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let decel_t = if (est.velocity>0.0) == (est.acceleration>0.0) {
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//this case deliberately overestimates d to prevent "back up"
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(est.acceleration.abs() / MAX_JERK) +
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(est.velocity.abs() / (MAX_ACCELERATION / 2.0)) +
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2.0 * (MAX_ACCELERATION / MAX_JERK)
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} else {
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//without the MAX_JERK, this approaches infinity and decelerates way too soon
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//MAX_JERK * 1s = acceleration in m/s^2
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est.velocity.abs() / (MAX_JERK + est.acceleration.abs())
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};
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let d = est.velocity.abs() * decel_t;
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let dst_height = getCumulativeFloorHeight(self.esp.get_floor_heights(), dst);
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//l = distance to next floor
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let l = (est.location - dst_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_height;
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//time elapsed since last poll
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let dt = est.timestamp - self.timestamp;
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self.timestamp = est.timestamp;
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//Do not exceed maximum acceleration
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if est.acceleration.abs() >= MAX_ACCELERATION {
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if est.acceleration > 0.0 {
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est.acceleration - (dt * MAX_JERK)
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} else {
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est.acceleration + (dt * MAX_JERK)
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}
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//Do not exceed maximum velocity
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} else if est.velocity.abs() >= MAX_VELOCITY
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|| (est.velocity + est.acceleration * (est.acceleration.abs() / MAX_JERK)).abs() >= MAX_VELOCITY {
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if est.velocity > 0.0 {
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est.acceleration - (dt * MAX_JERK)
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} else {
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est.acceleration + (dt * MAX_JERK)
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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 && (est.velocity>0.0) == going_up {
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if going_up {
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est.acceleration - (dt * MAX_JERK)
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} else {
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est.acceleration + (dt * MAX_JERK)
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}
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//else if not at peak velocity, accelerate smoothly
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} else {
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if going_up {
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est.acceleration + (dt * MAX_JERK)
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} else {
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est.acceleration - (dt * MAX_JERK)
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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.get_carriage_weight();
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if !target_force.is_finite() {
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//divide by zero etc.
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//may happen if time delta underflows
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0.0
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} else {
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target_force
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}
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}
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}
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