Change version to 0.5.1

Author: ufechner7

CHANGELOG.md

@@ -1,4 +1,4 @@
-### WinchControllers v0.6 2025-05-28
+### WinchControllers v0.5.1 2025-05-28
 #### Added
 - all public functions document
 - add page `Performance Indicators` to documentation
@@ -10,5 +10,5 @@
 #### Changed
 - reduced `df_high` in `wc_settings.yaml` to reduce oscillations
 - all examples are making use of `wc_settings.yaml` now
-- the function `get_v_error` returns now `NaN` instead of zero when the speed controller is inactive
+- the function `get_v_err` returns now `NaN` instead of zero when the speed controller is inactive
 - improved the plots of the examples

Project.toml

@@ -1,7 +1,7 @@
 name = "WinchControllers"
 uuid = "9e74470a-8ab1-4f32-b878-f32ebd236ea2"
 authors = ["Uwe Fechner <u.fechner-1@tudelft.nl> and contributors"]
-version = "0.6.0"
+version = "0.5.1"
 
 [deps]
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"

docs/src/winchcontroller.md

@@ -28,7 +28,7 @@ set_v_set(sc::SpeedController, v_set)
 set_v_set_in(sc::SpeedController, v_set_in)
 set_tracking(sc::SpeedController, tracking)
 get_v_set_out(sc::SpeedController)
-get_v_error(sc::SpeedController)
+get_v_err(sc::SpeedController)
 on_timer(sc::SpeedController)
 ```
 

examples/test_winchcontroller.jl

@@ -75,7 +75,7 @@ for i in 1:length(lg)
 
     # log the values
     log(lg; v_ro=v_act, acc=get_acc(winch), state, reset=status[1], active=status[2], 
-            force, f_set, f_err, v_err= wc.sc.v_err, v_set, v_set_out, v_set_in)
+            force, f_set, f_err, v_err=get_v_err(wc), v_set, v_set_out, v_set_in)
 end
 
 # plot the results  

src/WinchControllers.jl

@@ -10,7 +10,7 @@ import Base.length
 export WCSettings, WinchController, Winch, update
 export Mixer_2CH, Mixer_3CH, Integrator, UnitDelay, RateLimiter, CalcVSetIn
 export set_f_set, set_v_sw, set_reset, set_inactive, set_vset_pc
-export set_tracking, set_f_set, get_v_error, calc_vro, get_f_err
+export set_tracking, set_f_set, get_v_err, calc_vro, get_f_err
 export get_speed, set_force, calc_v_set, set_v_set, on_timer, get_acc, get_state, get_status
 export select_b, select_c, reset, calc_output
 export merge_angles, @limit

src/wc_components.jl

@@ -443,7 +443,7 @@ function get_v_set_out(sc::SpeedController)
 end
 
 """
-    get_v_error(sc::SpeedController)
+    get_v_err(sc::SpeedController)
 
 Compute and return the velocity error for the given `SpeedController` instance `sc`.
 
@@ -455,7 +455,7 @@ Compute and return the velocity error for the given `SpeedController` instance `
   If the controller is inactive, it returns `NaN`.
 
 """
-function get_v_error(sc::SpeedController)
+function get_v_err(sc::SpeedController)
     if sc.inactive
         return NaN
     else

src/winchcontroller.jl

@@ -215,3 +215,7 @@ function get_status(wc::WinchController)
     result[7] = wc.ufc.v_set_out
     result
 end
+
+function get_v_err(wc::WinchController)
+    get_v_err(wc.sc)
+end

test/test_utilities.jl

@@ -77,7 +77,7 @@ function speed_controller_step3!(pid1, sc, winch, calc, i, last_force, last_v_se
     # calculate v_set_out_A from the speed controller
     set_v_act(pid1, v_ro)
     v_set_out_A = get_v_set_out(pid1)
-    V_ERR[i] = get_v_error(pid1)
+    V_ERR[i] = get_v_err(pid1)
     # calculate v_set_out_B from the force controller
     set_force(sc, last_force[])
     if i * wcs.dt <= wcs.t_startup
@@ -136,7 +136,7 @@ function speed_controller_step4!(pid1, sc, ufc, mix3, winch, calc, i, last_force
     # calculate v_set_out_A from the speed controller
     set_v_act(pid1, v_ro)
     v_set_out_A = get_v_set_out(pid1)
-    V_ERR[i] = get_v_error(pid1)
+    V_ERR[i] = get_v_err(pid1)
     # calculate v_set_out_B from the force controller
     set_force(sc, last_force[])
     if i * wcs.dt <= wcs.t_startup