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Fix the calc_acc method definition warning #93

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Merged
ufechner7 merged 2 commits into from
Nov 14, 2024
Merged

Fix the calc_acc method definition warning #93

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8d4866e
fix method overriding warning
1-Bart-1 Nov 14, 2024
84eeaae
move import
1-Bart-1 Nov 14, 2024
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4 changes: 2 additions & 2 deletions examples/simple_3l_control.jl
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Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
using Revise, KiteModels, LinearAlgebra
using KiteModels, LinearAlgebra
using Base: summarysize

using Pkg
if ! ("ControlPlots" ∈ keys(Pkg.project().dependencies))
using TestEnv; TestEnv.activate()
end
using ControlPlots, StatsBase
using ControlPlots, StatsBase, Revise

set = deepcopy(load_settings("system_3l.yaml"))
# set.elevation = 71
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12 changes: 0 additions & 12 deletions src/KPS4_3L.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -555,18 +555,6 @@ function calc_acc_speed(motor::AsyncMachine, tether_vel, norm_, set_speed)
end
@register_symbolic calc_acc_speed(motor::AsyncMachine, tether_vel, norm_, set_speed)

function WinchModels.calc_acceleration(wm::TorqueControlledMachine, speed, force; set_torque=nothing, set_speed=nothing, use_brake = false)
omega = wm.set.gear_ratio/wm.set.drum_radius * speed
τ = WinchModels.calc_coulomb_friction(wm) * WinchModels.smooth_sign(omega) + WinchModels.calc_viscous_friction(wm, omega)
# calculate tau based on the set_torque
K = 1.0
tau = set_torque * K
# calculate tau_total based on the friction
tau_total = tau + wm.set.drum_radius / wm.set.gear_ratio * force - τ
# calculate omega_dot_m based on tau_total and the inertia
omega_dot_m = tau_total/wm.set.inertia_total
return wm.set.drum_radius/wm.set.gear_ratio * omega_dot_m
end
function calc_acc_torque(motor::TorqueControlledMachine, tether_vel, norm_, set_torque)
calc_acceleration(motor, tether_vel, norm_; set_speed=nothing, set_torque, use_brake=false)
end
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