Welding/WeldingSpotPerformance
9
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases 2 Wiki Activity

fix: Исправлен oncomming идеальной траектории в достижении маскимальной скорости

Browse Source
This commit is contained in:
ermolaev_p 2024-12-27 20:37:01 +03:00
parent 292958fa2b
commit 982a28ed8a
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/OptAlgorithm/OptTimeCalculator.py
View File

@ -175,7 +175,7 @@ class OptTimeCalculator(AutoConfigClass):
t31 = v0 / a + t1 t31 = v0 / a + t1
t5max = (Tfull - v0 / a) / 2 - t1 t5max = (Tfull - v0 / a) / 2 - t1
v1 = v0 + a * t1 v1 = v0 + a * t1
S1 = v0 * t1 + a * t1 * t1 / 2 + v1 * t31 - a * t31 * t31 / 2 S1 = v0 * t1 + a * t1 * t1 / 2 + v1 * t31 - a * t31 * t31 / 2 + v0 * t31
S2max = -Sfull + S1 S2max = -Sfull + S1
t5 = min(t5max, (vmax) / a, sqrt(S2max / a)) t5 = min(t5max, (vmax) / a, sqrt(S2max / a))
t3 = abs(v0) / a + t1 + t5 t3 = abs(v0) / a + t1 + t5