diff --git a/configurations/all/proportional_low_tc_01.toml b/configurations/all/proportional_low_tc_01.toml deleted file mode 100644 index 6d277a5..0000000 --- a/configurations/all/proportional_low_tc_01.toml +++ /dev/null @@ -1,14 +0,0 @@ -tickrate = 60000.0 -drone_tick_rate = 600 - -target_rate = 3.141592 - -proportional_multiplier = [0.005, 0.05, 0.005] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - -max_thrust = 2.6 -max_torque = 0.5 -mass = 0.350 - -time_constant=0.01 diff --git a/configurations/gen.py b/configurations/gen.py new file mode 100644 index 0000000..4bb6ca4 --- /dev/null +++ b/configurations/gen.py @@ -0,0 +1,33 @@ +import os +import subprocess + +subprocess.run("rm *.toml", shell=True) + +MOT_FOLDER = "mot/" +SIM_FOLDER = "sim/" +PID_FOLDER = "pid_cont/" + +mot_files = os.listdir(MOT_FOLDER) +sim_files = os.listdir(SIM_FOLDER) +pid_files = os.listdir(PID_FOLDER) + +prod: list[tuple[str, str, str]] = [ + (y, x, z) for x in mot_files for y in sim_files for z in pid_files +] + +for case in prod: + settings = "" + with open(SIM_FOLDER + case[0], "r") as f1: + with open(MOT_FOLDER + case[1], "r") as f2: + with open(PID_FOLDER + case[2], "r") as f3: + settings = f1.read() + "\n" + f2.read() + "\n" + f3.read() + with open( + "".join(case).replace(".toml", "_").removesuffix("_") + ".toml", "w" + ) as f: + f.write(settings) + +# cont = open(PID_FOLDER + "low_1.toml").read() +# for i in range(1, 11): +# num = 0.005 * i +# with open(PID_FOLDER + f"low_{i:02d}.toml", "w") as f: +# f.write(cont.replace("0.005", str(num))) diff --git a/configurations/mot/mot_std.toml b/configurations/mot/mot_std.toml new file mode 100644 index 0000000..f0c2f02 --- /dev/null +++ b/configurations/mot/mot_std.toml @@ -0,0 +1,5 @@ + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + diff --git a/configurations/mot/mot_tc.toml b/configurations/mot/mot_tc.toml new file mode 100644 index 0000000..f6b89eb --- /dev/null +++ b/configurations/mot/mot_tc.toml @@ -0,0 +1,5 @@ +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + +time_constant=0.01 diff --git a/configurations/pid_cont/low_01.toml b/configurations/pid_cont/low_01.toml new file mode 100644 index 0000000..cdd123d --- /dev/null +++ b/configurations/pid_cont/low_01.toml @@ -0,0 +1,5 @@ + +target_rate = 3.141592 +proportional_multiplier = [0.005, 0.005, 0.005] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/pid_cont/low_02.toml b/configurations/pid_cont/low_02.toml new file mode 100644 index 0000000..aea1033 --- /dev/null +++ b/configurations/pid_cont/low_02.toml @@ -0,0 +1,5 @@ + +target_rate = 3.141592 +proportional_multiplier = [0.01, 0.01, 0.01] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/pid_cont/low_03.toml b/configurations/pid_cont/low_03.toml new file mode 100644 index 0000000..a0d786f --- /dev/null +++ b/configurations/pid_cont/low_03.toml @@ -0,0 +1,5 @@ + +target_rate = 3.141592 +proportional_multiplier = [0.015, 0.015, 0.015] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/pid_cont/low_04.toml b/configurations/pid_cont/low_04.toml new file mode 100644 index 0000000..9fd81d9 --- /dev/null +++ b/configurations/pid_cont/low_04.toml @@ -0,0 +1,5 @@ + +target_rate = 3.141592 +proportional_multiplier = [0.02, 0.02, 0.02] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/pid_cont/low_05.toml b/configurations/pid_cont/low_05.toml new file mode 100644 index 0000000..531f7c4 --- /dev/null +++ b/configurations/pid_cont/low_05.toml @@ -0,0 +1,5 @@ + +target_rate = 3.141592 +proportional_multiplier = [0.025, 0.025, 0.025] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/pid_cont/low_06.toml b/configurations/pid_cont/low_06.toml new file mode 100644 index 0000000..0859a34 --- /dev/null +++ b/configurations/pid_cont/low_06.toml @@ -0,0 +1,5 @@ + +target_rate = 3.141592 +proportional_multiplier = [0.03, 0.03, 0.03] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/pid_cont/low_07.toml b/configurations/pid_cont/low_07.toml new file mode 100644 index 0000000..ed4ed69 --- /dev/null +++ b/configurations/pid_cont/low_07.toml @@ -0,0 +1,5 @@ + +target_rate = 3.141592 +proportional_multiplier = [0.035, 0.035, 0.035] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/pid_cont/low_08.toml b/configurations/pid_cont/low_08.toml new file mode 100644 index 0000000..892db38 --- /dev/null +++ b/configurations/pid_cont/low_08.toml @@ -0,0 +1,5 @@ + +target_rate = 3.141592 +proportional_multiplier = [0.04, 0.04, 0.04] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/pid_cont/low_09.toml b/configurations/pid_cont/low_09.toml new file mode 100644 index 0000000..ab25cc4 --- /dev/null +++ b/configurations/pid_cont/low_09.toml @@ -0,0 +1,5 @@ + +target_rate = 3.141592 +proportional_multiplier = [0.045, 0.045, 0.045] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/proportional_low2_tc_01.toml b/configurations/pid_cont/low_10.toml similarity index 57% rename from configurations/proportional_low2_tc_01.toml rename to configurations/pid_cont/low_10.toml index 1a246b2..1d756a2 100644 --- a/configurations/proportional_low2_tc_01.toml +++ b/configurations/pid_cont/low_10.toml @@ -1,14 +1,5 @@ -tickrate = 60000.0 -drone_tick_rate = 600 target_rate = 3.141592 - proportional_multiplier = [0.05, 0.05, 0.05] integral_multiplier = [0.0, 0.0, 0.0] diferential_multiplier = [0.0, 0.0, 0.0] - -max_thrust = 2.6 -max_torque = 0.5 -mass = 0.350 - -time_constant=0.01 diff --git a/configurations/proportional_low3_tc_01.toml b/configurations/proportional_low3_tc_01.toml deleted file mode 100644 index 99bb041..0000000 --- a/configurations/proportional_low3_tc_01.toml +++ /dev/null @@ -1,14 +0,0 @@ -tickrate = 60000.0 -drone_tick_rate = 600 - -target_rate = 3.141592 - -proportional_multiplier = [0.07, 0.07, 0.07] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - -max_thrust = 2.6 -max_torque = 0.5 -mass = 0.350 - -time_constant=0.01 diff --git a/configurations/proportional_low4_tc_01.toml b/configurations/proportional_low4_tc_01.toml deleted file mode 100644 index e37de88..0000000 --- a/configurations/proportional_low4_tc_01.toml +++ /dev/null @@ -1,14 +0,0 @@ -tickrate = 60000.0 -drone_tick_rate = 600 - -target_rate = 3.141592 - -proportional_multiplier = [0.10, 0.10, 0.10] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - -max_thrust = 2.6 -max_torque = 0.5 -mass = 0.350 - -time_constant=0.01 diff --git a/configurations/proportional_low5_tc_01.toml b/configurations/proportional_low5_tc_01.toml deleted file mode 100644 index 34ab206..0000000 --- a/configurations/proportional_low5_tc_01.toml +++ /dev/null @@ -1,14 +0,0 @@ -tickrate = 60000.0 -drone_tick_rate = 600 - -target_rate = 3.141592 - -proportional_multiplier = [0.15, 0.15, 0.15] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - -max_thrust = 2.6 -max_torque = 0.5 -mass = 0.350 - -time_constant=0.01 diff --git a/configurations/proportional_low6.toml b/configurations/proportional_low6.toml deleted file mode 100644 index bcaf801..0000000 --- a/configurations/proportional_low6.toml +++ /dev/null @@ -1,13 +0,0 @@ -tickrate = 60000.0 -drone_tick_rate = 600 - -target_rate = 3.141592 - -proportional_multiplier = [0.2, 0.2, 0.2] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - -max_thrust = 2.6 -max_torque = 0.5 -mass = 0.350 - diff --git a/configurations/proportional_low_tc_01.toml b/configurations/proportional_low_tc_01.toml deleted file mode 100644 index 6d277a5..0000000 --- a/configurations/proportional_low_tc_01.toml +++ /dev/null @@ -1,14 +0,0 @@ -tickrate = 60000.0 -drone_tick_rate = 600 - -target_rate = 3.141592 - -proportional_multiplier = [0.005, 0.05, 0.005] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - -max_thrust = 2.6 -max_torque = 0.5 -mass = 0.350 - -time_constant=0.01 diff --git a/configurations/sim/sim_std.toml b/configurations/sim/sim_std.toml new file mode 100644 index 0000000..202b4fb --- /dev/null +++ b/configurations/sim/sim_std.toml @@ -0,0 +1,2 @@ +tickrate = 6000.0 +drone_tick_rate = 600 diff --git a/configurations/proportional_low.toml b/configurations/sim_std_mot_std_low_01.toml similarity index 72% rename from configurations/proportional_low.toml rename to configurations/sim_std_mot_std_low_01.toml index 8998145..cd74913 100644 --- a/configurations/proportional_low.toml +++ b/configurations/sim_std_mot_std_low_01.toml @@ -1,13 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.005, 0.05, 0.005] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] max_thrust = 2.6 max_torque = 0.5 mass = 0.350 + + +target_rate = 3.141592 +proportional_multiplier = [0.005, 0.005, 0.005] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/proportional_low4.toml b/configurations/sim_std_mot_std_low_02.toml similarity index 73% rename from configurations/proportional_low4.toml rename to configurations/sim_std_mot_std_low_02.toml index e4c5221..393d6ad 100644 --- a/configurations/proportional_low4.toml +++ b/configurations/sim_std_mot_std_low_02.toml @@ -1,13 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.10, 0.10, 0.10] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] max_thrust = 2.6 max_torque = 0.5 mass = 0.350 + + +target_rate = 3.141592 +proportional_multiplier = [0.01, 0.01, 0.01] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/sim_std_mot_std_low_03.toml b/configurations/sim_std_mot_std_low_03.toml new file mode 100644 index 0000000..05ec016 --- /dev/null +++ b/configurations/sim_std_mot_std_low_03.toml @@ -0,0 +1,14 @@ +tickrate = 6000.0 +drone_tick_rate = 600 + + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + + + +target_rate = 3.141592 +proportional_multiplier = [0.015, 0.015, 0.015] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/proportional_low5.toml b/configurations/sim_std_mot_std_low_04.toml similarity index 73% rename from configurations/proportional_low5.toml rename to configurations/sim_std_mot_std_low_04.toml index d9a2fb2..9c51409 100644 --- a/configurations/proportional_low5.toml +++ b/configurations/sim_std_mot_std_low_04.toml @@ -1,13 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.15, 0.15, 0.15] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] max_thrust = 2.6 max_torque = 0.5 mass = 0.350 + + +target_rate = 3.141592 +proportional_multiplier = [0.02, 0.02, 0.02] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/sim_std_mot_std_low_05.toml b/configurations/sim_std_mot_std_low_05.toml new file mode 100644 index 0000000..6e4ec30 --- /dev/null +++ b/configurations/sim_std_mot_std_low_05.toml @@ -0,0 +1,14 @@ +tickrate = 6000.0 +drone_tick_rate = 600 + + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + + + +target_rate = 3.141592 +proportional_multiplier = [0.025, 0.025, 0.025] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/proportional_low3.toml b/configurations/sim_std_mot_std_low_06.toml similarity index 73% rename from configurations/proportional_low3.toml rename to configurations/sim_std_mot_std_low_06.toml index 5e00e5b..a0b8247 100644 --- a/configurations/proportional_low3.toml +++ b/configurations/sim_std_mot_std_low_06.toml @@ -1,13 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.07, 0.07, 0.07] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] max_thrust = 2.6 max_torque = 0.5 mass = 0.350 + + +target_rate = 3.141592 +proportional_multiplier = [0.03, 0.03, 0.03] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/sim_std_mot_std_low_07.toml b/configurations/sim_std_mot_std_low_07.toml new file mode 100644 index 0000000..9c8b285 --- /dev/null +++ b/configurations/sim_std_mot_std_low_07.toml @@ -0,0 +1,14 @@ +tickrate = 6000.0 +drone_tick_rate = 600 + + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + + + +target_rate = 3.141592 +proportional_multiplier = [0.035, 0.035, 0.035] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/sim_std_mot_std_low_08.toml b/configurations/sim_std_mot_std_low_08.toml new file mode 100644 index 0000000..43f8f99 --- /dev/null +++ b/configurations/sim_std_mot_std_low_08.toml @@ -0,0 +1,14 @@ +tickrate = 6000.0 +drone_tick_rate = 600 + + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + + + +target_rate = 3.141592 +proportional_multiplier = [0.04, 0.04, 0.04] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/sim_std_mot_std_low_09.toml b/configurations/sim_std_mot_std_low_09.toml new file mode 100644 index 0000000..3151931 --- /dev/null +++ b/configurations/sim_std_mot_std_low_09.toml @@ -0,0 +1,14 @@ +tickrate = 6000.0 +drone_tick_rate = 600 + + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + + + +target_rate = 3.141592 +proportional_multiplier = [0.045, 0.045, 0.045] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/proportional_low2.toml b/configurations/sim_std_mot_std_low_10.toml similarity index 92% rename from configurations/proportional_low2.toml rename to configurations/sim_std_mot_std_low_10.toml index 52b1103..0a96a4a 100644 --- a/configurations/proportional_low2.toml +++ b/configurations/sim_std_mot_std_low_10.toml @@ -1,13 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.05, 0.05, 0.05] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] max_thrust = 2.6 max_torque = 0.5 mass = 0.350 + + +target_rate = 3.141592 +proportional_multiplier = [0.05, 0.05, 0.05] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/all/proportional_low3_tc_01.toml b/configurations/sim_std_mot_tc_low_01.toml similarity index 74% rename from configurations/all/proportional_low3_tc_01.toml rename to configurations/sim_std_mot_tc_low_01.toml index 99bb041..d75a43e 100644 --- a/configurations/all/proportional_low3_tc_01.toml +++ b/configurations/sim_std_mot_tc_low_01.toml @@ -1,14 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.07, 0.07, 0.07] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - max_thrust = 2.6 max_torque = 0.5 mass = 0.350 time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.005, 0.005, 0.005] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/all/proportional_low6_tc_01.toml b/configurations/sim_std_mot_tc_low_02.toml similarity index 75% rename from configurations/all/proportional_low6_tc_01.toml rename to configurations/sim_std_mot_tc_low_02.toml index 2ac2834..1059a49 100644 --- a/configurations/all/proportional_low6_tc_01.toml +++ b/configurations/sim_std_mot_tc_low_02.toml @@ -1,14 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.2, 0.2, 0.2] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - max_thrust = 2.6 max_torque = 0.5 mass = 0.350 time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.01, 0.01, 0.01] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/sim_std_mot_tc_low_03.toml b/configurations/sim_std_mot_tc_low_03.toml new file mode 100644 index 0000000..2614f40 --- /dev/null +++ b/configurations/sim_std_mot_tc_low_03.toml @@ -0,0 +1,14 @@ +tickrate = 6000.0 +drone_tick_rate = 600 + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + +time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.015, 0.015, 0.015] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/proportional_low6_tc_01.toml b/configurations/sim_std_mot_tc_low_04.toml similarity index 75% rename from configurations/proportional_low6_tc_01.toml rename to configurations/sim_std_mot_tc_low_04.toml index 2ac2834..d07903c 100644 --- a/configurations/proportional_low6_tc_01.toml +++ b/configurations/sim_std_mot_tc_low_04.toml @@ -1,14 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.2, 0.2, 0.2] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - max_thrust = 2.6 max_torque = 0.5 mass = 0.350 time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.02, 0.02, 0.02] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/sim_std_mot_tc_low_05.toml b/configurations/sim_std_mot_tc_low_05.toml new file mode 100644 index 0000000..2e34077 --- /dev/null +++ b/configurations/sim_std_mot_tc_low_05.toml @@ -0,0 +1,14 @@ +tickrate = 6000.0 +drone_tick_rate = 600 + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + +time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.025, 0.025, 0.025] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/all/proportional_low4_tc_01.toml b/configurations/sim_std_mot_tc_low_06.toml similarity index 75% rename from configurations/all/proportional_low4_tc_01.toml rename to configurations/sim_std_mot_tc_low_06.toml index e37de88..0fa2154 100644 --- a/configurations/all/proportional_low4_tc_01.toml +++ b/configurations/sim_std_mot_tc_low_06.toml @@ -1,14 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.10, 0.10, 0.10] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - max_thrust = 2.6 max_torque = 0.5 mass = 0.350 time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.03, 0.03, 0.03] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/sim_std_mot_tc_low_07.toml b/configurations/sim_std_mot_tc_low_07.toml new file mode 100644 index 0000000..4b5fc4b --- /dev/null +++ b/configurations/sim_std_mot_tc_low_07.toml @@ -0,0 +1,14 @@ +tickrate = 6000.0 +drone_tick_rate = 600 + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + +time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.035, 0.035, 0.035] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/all/proportional_low5_tc_01.toml b/configurations/sim_std_mot_tc_low_08.toml similarity index 75% rename from configurations/all/proportional_low5_tc_01.toml rename to configurations/sim_std_mot_tc_low_08.toml index 34ab206..81d2c33 100644 --- a/configurations/all/proportional_low5_tc_01.toml +++ b/configurations/sim_std_mot_tc_low_08.toml @@ -1,14 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.15, 0.15, 0.15] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - max_thrust = 2.6 max_torque = 0.5 mass = 0.350 time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.04, 0.04, 0.04] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/sim_std_mot_tc_low_09.toml b/configurations/sim_std_mot_tc_low_09.toml new file mode 100644 index 0000000..cb41d5d --- /dev/null +++ b/configurations/sim_std_mot_tc_low_09.toml @@ -0,0 +1,14 @@ +tickrate = 6000.0 +drone_tick_rate = 600 + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + +time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.045, 0.045, 0.045] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/configurations/all/proportional_low2_tc_01.toml b/configurations/sim_std_mot_tc_low_10.toml similarity index 92% rename from configurations/all/proportional_low2_tc_01.toml rename to configurations/sim_std_mot_tc_low_10.toml index 1a246b2..1458ca0 100644 --- a/configurations/all/proportional_low2_tc_01.toml +++ b/configurations/sim_std_mot_tc_low_10.toml @@ -1,14 +1,14 @@ -tickrate = 60000.0 +tickrate = 6000.0 drone_tick_rate = 600 -target_rate = 3.141592 - -proportional_multiplier = [0.05, 0.05, 0.05] -integral_multiplier = [0.0, 0.0, 0.0] -diferential_multiplier = [0.0, 0.0, 0.0] - max_thrust = 2.6 max_torque = 0.5 mass = 0.350 time_constant=0.01 + + +target_rate = 3.141592 +proportional_multiplier = [0.05, 0.05, 0.05] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] diff --git a/src/drone.rs b/src/drone.rs index 27a243e..5be867d 100644 --- a/src/drone.rs +++ b/src/drone.rs @@ -194,11 +194,13 @@ impl Drone { *world.bodies.get(self.rb_handle).unwrap().rotation() } - pub fn process_tick(&mut self, world: &mut World) { + pub fn process_controller_tick(&mut self, world: &mut World) { self.update_controller(world); + } + + pub fn process_tick(&mut self, world: &mut World) { self.apply_throttles(world, world.get_time() - self.last_time); self.apply_drag(world); - self.last_time = world.get_time(); } } diff --git a/src/simulation.rs b/src/simulation.rs index 9e3cf73..64986fa 100644 --- a/src/simulation.rs +++ b/src/simulation.rs @@ -222,8 +222,9 @@ impl Simulation { { cont.set_input(current_input); } - self.drone.process_tick(&mut self.world); + self.drone.process_controller_tick(&mut self.world); } + self.drone.process_tick(&mut self.world); let target_angular_vel: na::Vector3; let desired_motor_diff: na::Vector3;