Public Member Functions
def	__init__
def	check
def	cmd
def	plot
def	run
Public Attributes
	dev
	plan
	plt
	verbose

Detailed Description

Definition at line 197 of file sim_actuator.py.

Constructor & Destructor Documentation

def brake.sim_actuator.Test.__init__	(	self,
		verbose = `False`
	)

Definition at line 200 of file sim_actuator.py.

Member Function Documentation

def brake.sim_actuator.Test.check	(	self,
		value,
		expected,
		label = `''`
	)

Definition at line 211 of file sim_actuator.py.

def brake.sim_actuator.Test.cmd	(	self,
		dx
	)

Command actuator to do relative move.

@param dx = encoder ticks to move.
@returns time (in seconds) required to get there.

This calculation assumes a triangular velocity profile with
constant acceleration |a|, applied first in one direction,
then in the other.

Erase any previous plan, then move the actuator in two steps:

  (1) accelerate in direction requested;
  (2) decelerate to zero velocity

The real device supports a trapezoidal velocity profile with a
maximum velocity (vMax).  Since it takes a long time to reach
vMax, this model ignores that detail, which does not seem to
matter much in practice.

Definition at line 219 of file sim_actuator.py.