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Antoine Drouin
2009-03-19 17:39:47 +00:00
parent 256666cdc2
commit a3a97f5e95
1 changed files with 65 additions and 0 deletions
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sw/simulator/scilab/q3d/test_8.sce
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clear();
clearglobal();
exec('q3d_utils.sci');
exec('q3d_fdm.sci');
exec('q3d_ctl.sci');
exec('q3d_ref_misc.sci');
l_t0 = 0;
l_duration = 2.2;
l_center = [0;0];
l_radius = 1;
[time, Xref] = get_reference_looping(l_t0, l_duration, l_center, l_radius);
fdm_init(0,time($));
ctl_init();
global ctl_motor;
ctl_motor(:,1) = fdm_mass * fdm_g * [0.5;0.5];
global ctl_ref_0;
global ctl_ref_1;
global ctl_ref_2;
global ctl_ref_3;
global ctl_ref_4;
ctl_ref_0 = Xref(1:2,:);
ctl_ref_1 = Xref(3:4,:);
ctl_ref_2 = Xref(5:6,:);
ctl_ref_3 = Xref(7:8,:);
ctl_ref_4 = Xref(9:10,:);
//global fdm_state;
fdm_state(FDM_SX, 1) = ctl_ref_0(AXIS_X,1);
fdm_state(FDM_SZ, 1) = ctl_ref_0(AXIS_Z,1);
fdm_state(FDM_SXD, 1) = ctl_ref_1(AXIS_X,1);
fdm_state(FDM_SZD, 1) = ctl_ref_1(AXIS_Z,1);
ctl_run_flatness(1);
//global ctl_ref_thetad;
fdm_state(FDM_STHETA, 1) = ctl_ref_theta(1);
fdm_state(FDM_STHETAD, 1) = ctl_ref_thetad(1);
for i=1:length(fdm_time)-1
fdm_run(i+1, ctl_motor(:,i));
ctl_run_flatness(i+1);
end
if 1
clf();
plot2d(fdm_state(FDM_SX,:), fdm_state(FDM_SZ,:),2);
plot2d(ctl_ref_0(AXIS_X,:), ctl_ref_0(AXIS_Z,:),3);
pause
end
clf();
drawlater();
ctl_display();
drawnow();
pause
gen_video();