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Add length control #20

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ufechner7 opened this issue Dec 22, 2024 · 1 comment
Open

Add length control #20

ufechner7 opened this issue Dec 22, 2024 · 1 comment

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@ufechner7
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ufechner7 commented Dec 22, 2024

add the parameters length and set_length to the function calc_acc, like this:

function calc_acceleration(wm::AbstractWinchModel, speed, force, length=nothing; set_torque=nothing, set_speed=nothing, set_length=nothing, use_brake = false)

This would be backwards compatible if length control is not needed.

If set_length is given and not nothing, then length must also be defined. The winch shall accelerate with max_acc (from settings.yaml) and with v_ro_max/ v_ro_min (from settings) until set_length is reached. If set_speed and set_length are provided, the norm of the speed shall be limited to set_speed.

@1-Bart-1
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As you said, this can be implemented using https://github.com/baggepinnen/TrajectoryLimiters.jl

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