From e1c38eeb2dfddfd1dedd4f6d765835ada794df89 Mon Sep 17 00:00:00 2001 From: ermolaev_p Date: Fri, 15 Nov 2024 14:34:31 +0300 Subject: [PATCH] =?UTF-8?q?fix(SF-483):=20=D0=98=D1=81=D0=BF=D1=80=D0=B0?= =?UTF-8?q?=D0=B2=D0=BB=D0=B5=D0=BD=20=D0=BD=D0=B5=D0=BF=D1=80=D0=B0=D0=B2?= =?UTF-8?q?=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9=20=D0=BF=D0=BE=D0=B4=D1=81?= =?UTF-8?q?=D1=87=D1=91=D1=82=20=D1=81=D0=BA=D0=BE=D1=80=D0=BE=D1=81=D1=82?= =?UTF-8?q?=D0=B8=20=D0=BD=D0=B0=20=D1=8D=D1=82=D0=B0=D0=BF=D0=B5=20=D1=80?= =?UTF-8?q?=D0=B0=D1=81=D0=BA=D1=80=D1=8B=D1=82=D0=B8=D1=8F,=20=D0=B4?= =?UTF-8?q?=D0=BE=D0=B1=D0=B0=D0=B2=D0=BB=D0=B5=D0=BD=20=D0=B0=D1=81=D1=81?= =?UTF-8?q?=D0=B5=D1=80=D1=82=20=D0=BD=D0=B0=20=D0=B4=D0=BE=D1=81=D1=82?= =?UTF-8?q?=D0=B8=D0=B6=D0=B5=D0=BD=D0=B8=D0=B5=20=D0=BD=D0=BE=D0=BC=D0=B8?= =?UTF-8?q?=D0=BD=D0=B0=D0=BB=D1=8C=D0=BD=D0=BE=D0=B9=20=D1=82=D1=80=D0=B0?= =?UTF-8?q?=D0=B5=D0=BA=D1=82=D0=BE=D1=80=D0=B8=D0=B8=20=D0=B4=D0=BE=20?= =?UTF-8?q?=D1=84=D0=B0=D0=B7=D1=8B=20=D0=BF=D0=BE=D0=B4=D0=BF=D0=BE=D1=80?= =?UTF-8?q?=D0=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/OptAlgorithm/OptTimeCalculator.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/OptAlgorithm/OptTimeCalculator.py b/src/OptAlgorithm/OptTimeCalculator.py index aa1d9ce..17ca585 100644 --- a/src/OptAlgorithm/OptTimeCalculator.py +++ b/src/OptAlgorithm/OptTimeCalculator.py @@ -51,12 +51,10 @@ class OptTimeCalculator(AutoConfigClass): t22 = max(0, (l2 - (self.a_max_2 * t21 * t21)) / self.v_max_2) T2 = t22 + 2 * t21 + offset - Topen = max(T1, T2) - - topen_1_acc, topen_1_speed = self.calcFirstOpen(Topen, l1+Fs1) + topen_1_acc, topen_1_speed = self.calcFirstOpen(T1, l1+Fs1) offset = self.calcSecondOpenOffset(topen_1_acc, topen_1_speed, Fs1) - topen_2_acc, topen_2_speed = self.calcSecondOpen(Topen - offset, l2) + topen_2_acc, topen_2_speed = self.calcSecondOpen(T2 - offset, l2) self.allTimes["topen_1_acc"] = topen_1_acc self.allTimes["topen_2_offset"] = offset @@ -95,7 +93,6 @@ class OptTimeCalculator(AutoConfigClass): self.allTimes["topen_1_mark"] = topen_1_mark self.allTimes["topen_2_mark"] = topen_2_mark - self.allTimes["topen"] = Topen def Tgrow(self) -> None: @@ -109,7 +106,9 @@ class OptTimeCalculator(AutoConfigClass): tspeed = sqrt(self.mass_1/self.k_hardness_1) * (arcsin(vFmax / L) - arccos(sqrt(self.k_hardness_1 / self.mass_1) * self.eff_control / L)) Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1/self.freq * vF0 * sin(self.freq * tspeed) Fmeet = 1/self.freq * sqrt(self.freq**2 * self.Ftogrow**2 - vFmax**2) + Fstart_prop = self.Fstart_prop + assert Fmeet < Fstart_prop tmeet = (Fmeet - Fspeed)/vFmax tend = self.tGrowNominal(Fstart_prop) - self.tGrowNominal(Fmeet) vp = 1/sqrt(self.k_hardness_1 * self.mass_1) * sqrt(self.Ftogrow**2 - self.Fstart_prop**2)