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OscillationControlWithCircle
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changed spring constants

This commit is contained in:
scorpio1 2022-07-25 09:33:07 -04:00
parent d6f4085c39
commit ff991fe06d
1 changed files with 6 additions and 7 deletions
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13
src/straight_line.py
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@ -74,8 +74,7 @@ def guidance_law():
accelerations=Vector3Stamped() accelerations=Vector3Stamped()
accelerations.vector.x = accel[0] accelerations.vector.x = accel[0]
accelerations.vector.y=accel[1] accelerations.vector.y=accel[1]
#we add 2 to the vertical acceleration because otherwise it sometimes
#just falls
accelerations.vector.z=accel[2] accelerations.vector.z=accel[2]
return accelerations return accelerations
@ -150,15 +149,15 @@ if __name__ == '__main__':
k = 2 k = 2
k2 = 2 k2 = 2
m=1.5 m=1.5
b3 = 2*np.sqrt(m*k) b3 = 0.4*np.sqrt(m*k)
b = 2*np.sqrt(m*k) b = 0.4*np.sqrt(m*k)
b2 = 2*np.sqrt(m*k2) b2 = 0.4*np.sqrt(m*k2)
#describe the vectors that define our direction of travel #describe the vectors that define our direction of travel
#the first vector is the direction we travel, the other two are two more #the first vector is the direction we travel, the other two are two more
#vectors that form an orthonormal basis with the first one #vectors that form an orthonormal basis with the first one
unit_vector = np.array([1,0,0]) unit_vector = np.array([1,0,0])
unit_vector_2 = np.array([0,1,0]) unit_vector_2 = np.array([0,0,-1])
unit_vector_3 = np.array([0,0,1]) unit_vector_3 = np.array([0,1,0])
unit_vector = unit_vector/np.linalg.norm(unit_vector) unit_vector = unit_vector/np.linalg.norm(unit_vector)
unit_vector_2 = unit_vector_2/np.linalg.norm(unit_vector_2) unit_vector_2 = unit_vector_2/np.linalg.norm(unit_vector_2)
#here we start creating the subscribers, and launching the drone #here we start creating the subscribers, and launching the drone