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check routine in C++ and python

master
Marc Poulhiès 5 years ago
parent
commit
a423bb2267
  1. 42
      native/native.C
  2. 46
      native/native.py

42
native/native.C

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#include <stdio.h>
#include <math.h>
static const double nr_teeth_small = 11.0;
static const double nr_teeth_big = 53.0;
static const double axis_hinge_dist_mm = 200;
#define PI M_PI
static const double earth_rot_speed_rad_sec = 2*PI / (1440*60*1000);
static const double bolt_thread_mm = 1.25;
/* static const unsigned int microstepping_div = 16; */
/* static const unsigned int nr_steps = 200 * microstepping_div; */
/* static const double stepper_gear_rad_per_step = (2*PI) / nr_steps; */
// this needs to be reset
/* static struct rot_state_t { */
/* unsigned long elapsed_time_millis; */
/* double stepper_gear_rot_rad = 0; */
/* } rot_state; */
static double get_expected_stepper_rot(unsigned long elapsed_time_millis) {
const double r = tan(fmod(earth_rot_speed_rad_sec * (elapsed_time_millis), PI)) * axis_hinge_dist_mm * 2 * PI * nr_teeth_big / (bolt_thread_mm * nr_teeth_small);
return r;
}
int main(int argc, char **argv) {
unsigned long millis_step = 0;
for (millis_step=0; millis_step < 1000; millis_step++) {
printf("%d (%d sec) : %f\n", millis_step*1000, millis_step, get_expected_stepper_rot(millis_step * 1000));
}
return 0;
}

46
native/native.py

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#!/usr/bin/env python3
import sys
import numpy
BOLT_THREAD = 1.25
NR_TEETH_BIG=53
NR_TEETH_SMALL=11
EARTH_SIDERAL_DAY = 1440
HINGE_ROD_LEN = 200
def rodlen_to_angle(rod_len):
return numpy.arctan(rod_len / HINGE_ROD_LEN)
def drivegear_angle_to_rodlen(angle):
return BOLT_THREAD*angle/(2*numpy.pi)
def steppergear_angle_to_drivegear_angle(sangle):
return sangle * NR_TEETH_SMALL/NR_TEETH_BIG
def debug_from_step_angle(sangle):
step_angle = float(sangle)
print("Step angle {}rad".format(step_angle))
drivegear_angle = steppergear_angle_to_drivegear_angle(step_angle)
print("Drive gear angle {}rad".format(drivegear_angle))
rodlen = drivegear_angle_to_rodlen(drivegear_angle)
print("Rod length {}mm".format(rodlen))
final_angle = rodlen_to_angle(rodlen)
print("Final angle {}rad".format(final_angle))
def get_step_angle_from_time(time_in_sec):
final_angle = time_in_sec * 2 * numpy.pi / (1440*60)
sangle = numpy.tan(final_angle) * HINGE_ROD_LEN * 2 * numpy.pi * NR_TEETH_BIG / (BOLT_THREAD * NR_TEETH_SMALL)
print("For {} sec, final angle is {} rad => step angle is {}".format(time_in_sec, final_angle, sangle))
verif_final = debug_from_step_angle(sangle)
get_step_angle_from_time(int(sys.argv[1]))
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