shit ton of sims to test

configurations/all/proportional_low_tc_01.toml

@@ -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

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)))

configurations/mot/mot_std.toml

@@ -0,0 +1,5 @@
+
+max_thrust = 2.6
+max_torque = 0.5
+mass = 0.350
+

configurations/mot/mot_tc.toml

@@ -0,0 +1,5 @@
+max_thrust = 2.6
+max_torque = 0.5
+mass = 0.350
+
+time_constant=0.01

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]

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]

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]

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]

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]

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]

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]

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]

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]

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

configurations/proportional_low3_tc_01.toml

@@ -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

configurations/proportional_low4_tc_01.toml

@@ -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

configurations/proportional_low5_tc_01.toml

@@ -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

configurations/proportional_low6.toml

@@ -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
-

configurations/proportional_low_tc_01.toml

@@ -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

configurations/sim/sim_std.toml

@@ -0,0 +1,2 @@
+tickrate = 6000.0
+drone_tick_rate = 600

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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]

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();
     }
 }

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<f32>;
             let desired_motor_diff: na::Vector3<f32>;