Add mwe_01.jl

Author: ufechner7

mwes/mwe_01.jl

@@ -0,0 +1,36 @@
+# Linearize the winch
+# input: set_speed
+# output: speed
+
+using WinchControllers, KiteUtils
+
+if isfile("data/system_tuned.yaml")
+    set = load_settings("system_tuned.yaml")
+else
+    set = load_settings("system.yaml")
+end
+wcs = WCSettings(dt=0.02)
+update(wcs)
+wcs.test = true
+
+winch = Winch(wcs, set)
+
+# find equilibrium speed
+function find_equilibrium_speed(winch, force)
+    set_speed = 0.0
+    for _ in 1:1000
+        v_act = get_speed(winch)
+        set_force(winch, force)
+        set_v_set(winch, set_speed)
+        
+        on_timer(winch)
+        
+        # check if the speed is close enough to the desired equilibrium
+        if abs(get_speed(winch) - set_speed) < 0.01
+            break
+        end
+    end
+    set_v_set(winch, set_speed)
+    on_timer(winch)
+    return get_speed(winch)
+end