From aa73bc907e109ea1359c549e8fe96001534d826a Mon Sep 17 00:00:00 2001
From: Unknown <pfguenette@gmail.com>
Date: Sat, 25 Jul 2020 23:27:08 -0400
Subject: [PATCH] Add simple analysis

---
 analysis/Simulation/TranslationalMass.py | 35 ++++++++++++++++++++++++
 1 file changed, 35 insertions(+)
 create mode 100644 analysis/Simulation/TranslationalMass.py

diff --git a/analysis/Simulation/TranslationalMass.py b/analysis/Simulation/TranslationalMass.py
new file mode 100644
index 00000000..3cb1a4aa
--- /dev/null
+++ b/analysis/Simulation/TranslationalMass.py
@@ -0,0 +1,35 @@
+import os
+import matplotlib.pyplot as plt
+from control.matlab import *
+
+# Input: Current (A)
+# Output: Torque (Nm)
+# Params: Kt (Nm/A)
+def motor(Kt):
+    return tf(Kt, 1)
+
+# Mass-Spring-Damper
+# Input: Force
+# Output: Position
+# Params:   m (kg)
+#           b 
+#           k (N/m)
+def mass(m, b, k):
+    A = [[0, 1.], [-k/m, -b/m]]
+    B = [[0], [1/m]]
+    C = [[1., 0]]
+    return ss(A, B, C, 0)
+
+# Input: Torque (Nm)
+# Output: Force (N)
+# Params: r (m)
+def pulley(r):
+    return tf(r, 1)
+
+sys = series(motor(2.5), pulley(0.015), mass(0.10, 0, 0))
+yout, T, xout = step(sys, return_x=True)
+print(yout)
+# plt.plot(T, yout)
+plt.plot(T, xout)
+plt.legend(['Displacement', 'Velocity'])
+plt.show()
\ No newline at end of file