Welding/WeldingSpotPerformance
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fix: Исправлен oncomming идеальной траектории в достижении маскимальной скорости

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ermolaev_p 2024-12-27 20:37:01 +03:00
parent 292958fa2b
commit 982a28ed8a
1 changed files with 1 additions and 1 deletions
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src/OptAlgorithm/OptTimeCalculator.py
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@ -175,7 +175,7 @@ class OptTimeCalculator(AutoConfigClass):
t31 = v0 / a + t1
t5max = (Tfull - v0 / a) / 2 - 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
t5 = min(t5max, (vmax) / a, sqrt(S2max / a))
t3 = abs(v0) / a + t1 + t5