bug fixes

sparshg · Apr 28, 2023 · 7332980 · 7332980
1 parent 56fba71
commit 7332980
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Showing 6 changed files with 38 additions and 28 deletions.
diff --git a/README.md b/README.md
@@ -3,11 +3,10 @@ A Proportional-Integral-Derivative controller to self balance a ball
 
 Physics for the simulation is implemented according to [this paper](https://www.academia.edu/76867878/Swing_up_and_positioning_control_of_an_inverted_wheeled_cart_pendulum_system_with_chaotic_balancing_motions) (excluding the counter-balances and connecting rod)
 
-I used Range-Kutta method (4th order) to solve the system.
+I used Runge-Kutta method (4th order) to solve the system.
+
 Camera dynamics are implemented with the help of [this](https://www.youtube.com/watch?v=KPoeNZZ6H4s) video
 
 Use arrow keys to control the cart, and disturb the ball.
 
-
-
 <img width="1392" alt="Screenshot 2023-04-27 at 8 30 20 PM 2" src="https://user-images.githubusercontent.com/43041139/234903949-43b97b14-b21a-4951-9278-aef4930595bc.png">
diff --git a/src/camera.rs b/src/camera.rs
@@ -9,6 +9,12 @@ pub struct CameraDynamics {
     k3: f64,
 }
 
+impl Default for CameraDynamics {
+    fn default() -> Self {
+        Self::new(1.5, 0.75, 0., 0.)
+    }
+}
+
 impl CameraDynamics {
     pub fn new(f: f64, z: f64, r: f64, init: f64) -> Self {
         CameraDynamics {

diff --git a/src/cart.rs b/src/cart.rs
@@ -4,7 +4,7 @@ use std::f64::consts::PI;
 
 use macroquad::prelude::*;
 
-use crate::state::State;
+use crate::{camera::CameraDynamics, state::State};
 #[derive(PartialEq, Eq)]
 pub enum Integrator {
     Euler,
@@ -38,6 +38,7 @@ pub struct Cart {
     pub b1: f64,
     pub b2: f64,
     pub R: f64,
+    pub camera: CameraDynamics,
     g: f64,
     m1: f64,
     m2: f64,
@@ -75,13 +76,14 @@ impl Default for Cart {
             steps: 5,
             enable: true,
             integrator: Integrator::default(),
+            camera: CameraDynamics::default(),
         }
     }
 }
 
 impl Cart {
     pub fn update(&mut self, dt: f64) {
-        self.state.update_camera(dt);
+        self.camera.update(self.state.x, self.state.v, dt);
         let steps = if dt > 0.02 {
             (60. * dt) as i32
         } else {
@@ -161,7 +163,7 @@ impl Cart {
 
     pub fn display(&self, color: Color, thickness: f32, length: f32, depth: f32) {
         draw_line(-length, -depth, length, -depth, thickness, color);
-        let x = (self.state.x - self.state.camera.unwrap().y) as f32 * self.ui_scale;
+        let x = (self.state.x - self.camera.y) as f32 * self.ui_scale;
         let R = self.R as f32 * self.ui_scale;
         let (c, s) = (
             (self.state.x / self.R).cos() as f32,
@@ -170,7 +172,7 @@ impl Cart {
 
         let ticks = (9. / self.ui_scale) as i32;
         let gap = 2. / ticks as f32;
-        let offset = (self.state.camera.unwrap().y as f32 * self.ui_scale) % gap;
+        let offset = (self.camera.y as f32 * self.ui_scale) % gap;
         for i in 0..ticks + 2 {
             draw_line(
                 (-offset + gap * i as f32 - 1.) * length,

diff --git a/src/main.rs b/src/main.rs
@@ -24,8 +24,8 @@ async fn main() {
     let grid = 0.15;
     let w_init = 1280.;
     let mut cart = Cart::default();
-    let vingette = load_texture("vingette.png").await.unwrap();
-    let font = load_ttf_font("Ubuntu-Regular.ttf").await.unwrap();
+    let vingette = Texture2D::from_file_with_format(include_bytes!("../vingette.png"), None);
+    let font = load_ttf_font_from_bytes(include_bytes!("../Ubuntu-Regular.ttf")).unwrap();
     setup_theme();
     let mut forceplt = Graph::new(
         &["Force", "Thrust"],

diff --git a/src/state.rs b/src/state.rs
@@ -9,7 +9,6 @@ pub struct State {
     pub v: f64,
     pub w: f64,
     pub th: f64,
-    pub camera: Option<CameraDynamics>,
 }
 
 impl Default for State {
@@ -20,13 +19,7 @@ impl Default for State {
 
 impl State {
     pub fn from(x: f64, v: f64, w: f64, th: f64) -> Self {
-        State {
-            x,
-            v,
-            w,
-            th,
-            camera: Some(CameraDynamics::new(1.5, 0.75, 0., 0.0)),
-        }
+        State { x, v, w, th }
     }
 
     pub fn update(&mut self, (vdot, v, wdot, w): (f64, f64, f64, f64), dt: f64) {
@@ -37,12 +30,6 @@ impl State {
         self.x += v * dt;
     }
 
-    pub fn update_camera(&mut self, dt: f64) {
-        if let Some(camera) = &mut self.camera {
-            camera.update(self.x, self.v, dt);
-        }
-    }
-
     pub fn after(&self, (vdot, v, wdot, w): (f64, f64, f64, f64), dt: f64) -> State {
         let mut new_state = self.clone();
         new_state.update((vdot, v, wdot, w), dt);

diff --git a/src/ui.rs b/src/ui.rs
@@ -1,4 +1,4 @@
-use std::collections::VecDeque;
+use std::{collections::VecDeque, f32::INFINITY};
 
 use egui::{
     epaint::Shadow,
@@ -7,7 +7,11 @@ use egui::{
 };
 use macroquad::prelude::*;
 
-use crate::cart::{self, Cart};
+use crate::{
+    camera::CameraDynamics,
+    cart::{self, Cart},
+    state::State,
+};
 
 pub struct Graph {
     title: &'static [&'static str],
@@ -258,7 +262,11 @@ pub fn draw_ui(w: f32, grid: f32, cart: &mut Cart, forceplt: &mut Graph, forcepl
                             ui.label("L_rod");
                         });
                         ui.horizontal(|ui| {
-                            ui.add(DragValue::new(&mut cart.Fclamp).speed(1.));
+                            ui.add(
+                                DragValue::new(&mut cart.Fclamp)
+                                    .clamp_range(0.0..=INFINITY)
+                                    .speed(1.),
+                            );
                             ui.label("F_clamp");
                         });
                     });
@@ -297,7 +305,11 @@ pub fn draw_ui(w: f32, grid: f32, cart: &mut Cart, forceplt: &mut Graph, forcepl
                             ui.label("R_wheel");
                         });
                         ui.horizontal(|ui| {
-                            ui.add(DragValue::new(&mut cart.Finp).speed(1.));
+                            ui.add(
+                                DragValue::new(&mut cart.Finp)
+                                    .clamp_range(0.0..=INFINITY)
+                                    .speed(1.),
+                            );
                             ui.label("Input Force");
                         });
                     });
@@ -353,7 +365,11 @@ pub fn draw_ui(w: f32, grid: f32, cart: &mut Cart, forceplt: &mut Graph, forcepl
                                 "Controller: OFF"
                             },
                         );
-                        egui::reset_button(ui, &mut cart.state);
+                        if ui.button("Reset").clicked() {
+                            cart.state = State::default();
+                            cart.int = 0.;
+                            cart.camera = CameraDynamics::default();
+                        };
                     })
                 });
             });