-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathhooded_launcher.html
806 lines (736 loc) · 27.9 KB
/
hooded_launcher.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
<!DOCTYPE html>
<meta content="text/html;charset=utf-8" http-equiv="Content-Type">
<meta content="utf-8" http-equiv="encoding">
<link rel="stylesheet" href="include/style.css">
<!-- Include relevant libraries -->
<script type="text/javascript" src="js/eclib.js"></script>
<script type="text/javascript" src="js/units.js"></script>
<script type="text/javascript" src="js/export.js"></script>
<script type="text/javascript" src="js/motors.js"></script>
<script type="text/javascript" src="js/plots.js"></script>
<script type="text/javascript" src="js/tolstack.js"></script>
<script type="text/javascript" src="js/walkthrough.js"></script>
<!-- Export library requires this script tag -->
<script id="EXP_inputs_frame" ></script>
<script type="text/javascript">
EXP_FN_BASE = 'hoodpitch';
UNIT_MAP = {
'dim': ['mm', 'in'],
'mass': ['kg', 'lbm'],
'stiffness': ['N/m', 'lbf/in'],
'moi': ['kg mm^2', 'lbm in^2'],
'omega': ['RPM','RPM'],
'theta': ['deg','deg'],
'v': ['m/s','ft/s'],
'position': ['deg', 'deg'],
'force': ['N', 'lbf'],
'torque': ['N', 'lbf'],
'kM': ['N-m/kRPM', 'in-lbf/kRPM'],
"pct": ["%", "%"]
};
WALK_STEPS = [{
poi: 'user_input_ball',
desc: 'Input details about the ball...',
valign: 'bottom',
halign: 'left'
},{
poi: 'user_input_wheel',
desc: 'Input details about the wheel...',
valign: 'bottom',
halign: 'middle'
},{
poi: 'computed_outputs',
desc: 'Exit parameters are calculated.',
valign: 'bottom',
halign: 'right'
},{
poi: 'chart_launch',
desc: "The ball's journey through the shooter is plotted here."
},{
poi: 'chart_launch',
desc: 'Click on the plot for more details.'
},{
poi: 'chart_rev',
desc: "The wheel's revving up is plotted here."
},{
poi: 'toggle_tips_label',
desc: 'More notes are in this box, and tooltips.',
halign: 'right',
valign: 'bottom'
}];
</script>
<script type="text/javascript">
function init() {
EC_onload();
MOTOR_setupMotorSelect("motor");
EXP_onload();
UNIT_change();
MOTOR_selectMotor('motor');
EC_setOnInput(); // default handler OK
EC_setOnKeyUp(); // default handler OK
calcRatio();
compute();
WALK_onload();
}
function computeLaunch(pp) {
I_b = pp.moi_rat_b*pp.m_b*pp.w*pp.w/4;
i=0;
i_settled=NaN;
u=pp.theta_0; // angular positionx
t=0;
R=(pp.w+pp.d_w)/2;
v_b=0;
omega_b=0;
omega_w=pp.omega_w_0;
res = {
t:[t],
u:[0],
v_b:[v_b],
omega_b:[omega_b],
omega_w:[omega_w],
N_h:[0],
N_w:[0],
F_h:[0],
F_w:[0]
}
// [[t],[0],[v_b],[omega_b],[omega_w],[0],[0],[0],[0]];
dt = dt0 = 1e-2/pp.omega_w_0;
matched_w = false; matched_h = false;
u_regain = 0;
retry = false;
while(i<10000 && u>pp.theta_end) {
if (u < u_regain){
dt = dt0;
retry = false;
}
N_h = pp.k_b*(pp.d_b-pp.w) + v_b*v_b/R*pp.m_b/2;
N_w = pp.k_b*(pp.d_b-pp.w) - v_b*v_b/R*pp.m_b/2;
if (N_w < 0) N_w = 0;
F_h = N_h * pp.mu_h;
F_w = N_w * pp.mu_w;
if (matched_w){ F_w = F_h*(pp.w*pp.w/4/I_b - 1/pp.m_b) / (1/pp.m_b + pp.w*pp.w/4/I_b + pp.d_w*pp.d_w/4/pp.I_w); }
if (matched_h){ F_h = F_w*(pp.w*pp.w/4/I_b - 1/pp.m_b) / (pp.w*pp.w/4/I_b + 1/pp.m_b); }
if (matched_w && matched_h){
F_w = 0; F_h = 0;
if (isNaN(i_settled)) i_settled = i;
}
dv = (F_w+F_h) / pp.m_b;
domega_b = (F_w-F_h)*pp.w/2 / I_b;
domega_w = (-F_w*pp.d_w/2) / pp.I_w;
v_b += dv*dt;
omega_b += domega_b*dt;
omega_w += domega_w*dt;
u -= v_b*dt/R;
t += dt;
if (!retry) {
if (!matched_w && v_b + omega_b*pp.w/2 > omega_w*pp.d_w/2) {
// really, should go back and try again with lower timestep
retry = true;
}
if (!matched_h && v_b - omega_b*pp.w/2 > 0) {
// really, should go back and try again with lower timestep
retry = true;
}
if (retry) { // fuk go back, do it slower
u_regain = u;
v_b -= dv*dt;
omega_b -= domega_b*dt;
omega_w -= domega_w*dt;
u += v_b*dt/R;
t -= dt;
dt = dt0/100;
continue; // do not write to result array, do not pass go, do not collect 200 dollars
}
} else {
if (v_b + omega_b*pp.w/2 > omega_w*pp.d_w/2) {
matched_w = true;
retry = false;
}
if (v_b - omega_b*pp.w/2 > 0) {
matched_h = true;
retry = false;
}
}
res.t.push(t);
res.u.push(pp.theta_0-u);
res.v_b.push(v_b);
res.omega_b.push(omega_b);
res.omega_w.push(omega_w);
res.N_h.push(N_h);
res.N_w.push(N_w);
res.F_h.push(F_h);
res.F_w.push(F_w);
i+=1;
}
res.stats = {
v_b_exit: v_b,
theta_b_exit: pp.theta_end,
omega_b_exit: omega_b,
omega_w_exit: omega_w,
i_settle: i_settled
}
return res;
}
function computeRevUp(params_pack) {
[motor, G, I_w, omega_target, kM, omega_drop] = params_pack;
dt = 0.001;
i = 0;
t = 0;
omega = 0;
cur_cons = 0;
cur_cons_drop = 0;
motor_state = MOTOR_computeState(motor, 'speed', 0);
res = {t:[t],omega:[omega],cur:[motor_state.current]};
t_drop = 0;
validity = 0;
while(i<10000) {
motor_state = MOTOR_computeState(motor, 'speed', omega*G);
T = motor_state.torque*G;
cur = motor_state.current;
M = kM * omega;
domega = (T-M)/I_w;
omega += domega*dt;
cur_cons += cur*dt;
t += dt;
i ++;
res.t.push(t);
res.omega.push(omega);
res.cur.push(cur);
if (t_drop == 0 && omega > omega_drop) {
t_drop = t;
cur_cons_drop = cur_cons;
validity ++;
}
if (omega > omega_target) {
validity ++;
break;
}
}
res.stats = {
idle_current: MOTOR_computeIdleCurrent(motor, kM*omega_target),
cur_cons_live: cur_cons-cur_cons_drop,
cur_cons_dead: cur_cons,
t_dead: t,
t_live: t-t_drop,
valid: validity
};
return res;
}
let g = 9.81;
function compute() {
try{
[extrema_vals, extrema] = TOLS_computeTolStack(computeLaunch,
['d_b', 'm_b', 'moi_rat_b', 'k_b', 'w',
'd_w', 'I_w', 'mu_w', 'omega_w_0',
'mu_h', 'theta_0', 'theta_end'],
['v_b_exit', 'omega_b_exit', 'omega_w_exit', 'theta_b_exit']);
PLOT_drawLinePlot({
chartName: "chart_launch",
multiChannelBehavior: "merge2",
axes: {
x: {
numTicks: 10,
boxEnds: false,
negativeHandling: 'posonly',
margin: 15
}, y: {
numTicks: 7,
boxEnds: true,
negativeHandling: 'posonly',
margin: 5
}, z: {
syncWithY: true,
margin: 5
}
},
datasets: {
u: {axis: 'x'},
v_b: {axis: 'y'},
omega_b: {axis: 'y'},
omega_w: {axis: 'z'}
},
queries: {
INDEX: {places: 0},
t: {},
u: {},
v_b: {},
omega_b: {},
omega_w: {},
N_h: {},
N_w: {},
F_h: {},
F_w: {}
}
},[
extrema.v_b_exit[0],
extrema.v_b_exit[1]
]);
for (stat of ['v_b_exit', 'omega_b_exit', 'omega_w_exit', 'theta_b_exit']) {
setV('output_'+stat, (extrema_vals[stat][1] + extrema_vals[stat][0])/2);
setV('output_'+stat+'_err', (extrema_vals[stat][1] - extrema_vals[stat][0])/2);
}
G = getV('G');
rev_run = computeRevUp([ //motor, G, I_w, omega_target, kM, omega_drop
MOTOR_packMotor('motor'),
getV('G'),
getV('I_w') + getV('I_w_err',0),
getV('omega_w_0'),
getV('kM'),
extrema_vals.omega_w_exit[0]]);
PLOT_drawLinePlot({
chartName: "chart_rev",
axes: {
x: {
numTicks: 10,
boxEnds: false,
negativeHandling: 'posonly',
margin: 15
}, y: {
numTicks: 7,
boxEnds: true,
negativeHandling: 'posonly',
margin: 5
}, z: {
syncWithY: true,
margin: 5
}
},
datasets: {
t: {axis: 'x'},
cur: {axis: 'y'},
omega: {axis: 'z'}
},
queries: {
INDEX: {places: 0},
t: {},
cur: {},
omega: {}
}
}, rev_run);
setV('t_rev_live', rev_run.stats.t_live);
setV('t_rev_dead', rev_run.stats.t_dead);
setV('cur_cons_dead', rev_run.stats.cur_cons_dead);
setV('cur_cons_live', rev_run.stats.cur_cons_live);
setV('cur_idle', rev_run.stats.idle_current);
} catch(err) {
console.log(err);
setError(2, err);
return;
}
setError(0);
EXP_dumpPersistence();
}
function calcRatio() {
setError(1);
var G = 1;
G *= getV("G1B", 1);
G *= getV("G2B", 1);
G *= getV("G3B", 1);
G *= getV("G4B", 1);
G /= getV("G1A", 1);
G /= getV("G2A", 1);
G /= getV("G3A", 1);
G /= getV("G4A", 1);
setV("G", G);
}
</script>
<html>
<!-- Make sure to call your init function on document load -->
<!-- You can copy the topbar template here -->
<body onload="init()">
<div id="topbar">
<div class="topbar-la selectable" onclick="window.location='./'">EveryCalc</div>
<div class="topbar-la" id='topbar_version'></div>
<div class="topbar-la" id='topbar_filename'></div>
<div class="topbar-la" id='topbar_unit'>
<!-- Required for unit library. You could also put this in the calculator main body -->
<select id="unit_select" onchange="UNIT_change(); compute();">
<option value=0 >Metric</option>
<option value=1 selected="selected">English</option>
</select>
</div>
<div class="topbar-ctr" id="topbar_title">Hood and Wheel Pitcher</div>
<div class="topbar-ra selectable" id="topbar_status"><span></span><span class='ttt'></span></div>
<div class="topbar-ra selectable" onclick="downloadPage();" id="download">Export HTML</div>
<div class="topbar-ra selectable" onclick="printPage();">Print</div>
<div class="topbar-ra selectable" onclick="WALK_enable();">Tutorial</div>
<a id="download_frame" hidden></a>
</div>
<svg id="walkthrough_overlay" onclick="WALK_nextStep()" >
<path id="walkthrough_frame" ></path>
<text id="walkthrough_text" ></text>
<text id="walkthrough_skip_button" onclick="WALK_disable();">Skip Tutorial</text>
</svg>
<!-- From here go nuts, do whatever works for you. Use the container to keep stuff from spilling under topbar. I'll point out patterns to pay attention to. -->
<div style="width: 100%; float: left;" class="container">
<div style='display:table-row'>
<div class="odd" style='display:table-cell' id="user_input_ball">
<table>
<tr> <!--['d_b', 'm_b', 'moi_rat_b', 'k_b', 'w',
'd_w', 'I_w', 'mu_w', 'omega_w_0',
'mu_h', 'theta_0', 'theta_end']-->
<th class="rowlabel">Ball Diameter</th>
<td><input data-unit='dim' id="d_b" value=7></td><td class="tiny">+/-</td>
<td><input data-unit='dim' id="d_b_err" value=''></td>
<td class='unit' data-unit='dim' id='unit_d_b'></td>
</tr><tr>
<th class='rowlabel'>Ball Mass</th>
<td><input data-unit='mass' id='m_b' value=0.3><td class="tiny">+/-</td>
<td><input data-unit='mass' id='m_b_err' value=''></td>
<td class='unit' data-unit='mass' id='unit_m_b'></td>
</tr><tr>
<th class='rowlabel'>Ball MOI Ratio<span class="ttt">Ratio of MOI to mass times radius squared.<br/>2/5 for a solid sphere, 2/3 for a hollow sphere, 1/2 for a solid cylinder, 1 for a hollow cylinder.</span></th>
<td><input id='moi_rat_b' value='2/5'></td><td class="tiny">+/-</td>
<td><input id='moi_rat_b_err'></td>
<td class="unit">[-]</td>
</tr><tr>
<th class="rowlabel">Ball Stiffness<span class="ttt">Stiffness of the ball. This should be evaluated as a shock condition and near the amount of compression in the case of nonlinear balls (which, practically any ball will be)</span></th>
<td><input data-unit='stiffness' id="k_b" value=20></td><td class="tiny">+/-</td>
<td><input data-unit='stiffness' id="k_b_err" value=''></td>
<td class='unit' data-unit='stiffness'></td>
</tr><tr>
<th class='rowlabel'>Wheel Diameter</th>
<td><input data-unit='dim' id='d_w' value=6></td><td class="tiny">+/-</td>
<td><input data-unit='dim' id='d_w_err' value=''></td>
<td class='unit' data-unit='dim'></td>
</tr><tr>
<th class='rowlabel'>Wheel MOI</th>
<td><input data-unit='moi' id='I_w' value=4><td class="tiny">+/-</td>
<td><input data-unit='moi' id="I_w_err" value=''></td>
<td class='unit' data-unit='moi'></td>
</tr><tr>
<th class="rowlabel">Hood Gap</th>
<td><input data-unit='dim' id="w" value=5></td><td class="tiny">+/-</td>
<td><input data-unit='dim' id="w_err" value=''></td>
<td class='unit' data-unit='dim'></td>
</tr><tr>
<th class="rowlabel">Hood Start<span class="ttt">Angle that the hood starts at, with respect to vertical.<br/>A larger value would mean the hood wraps around more.</span></th>
<td><input data-unit='theta' id="theta_0" value=120></td><td class="tiny">+/-</td>
<td><input data-unit='theta' id="theta_0_err"></td>
<td class='unit' data-unit='theta'></td>
</tr><tr>
<th class='rowlabel'>Hood End<span class="ttt">Angle that the hood ends at, with respect to vertical.<br/>This would be the same as the release/departure angle with respect to the horizontal.<br/>A larger value would mean that the hood wraps around less, and creates a more vertical shot.</span></th>
<td><input data-unit='theta' id='theta_end' value=15></td><td class="tiny">+/-</td>
<td><input data-unit='theta' id='theta_end_err' value=''></td>
<td class='unit' data-unit='theta' id='unit_theta_end'></td>
</tr><tr>
<th class="rowlabel">COF Wheel</th>
<td><input id="mu_w" value=1.0></td><td class="tiny">+/-</td>
<td><input id="mu_w_err" value=''></td>
<td class="unit">[-]</td>
</tr><tr>
<th class='rowlabel'>COF Hood</th>
<td><input id='mu_h' value=0.5></td><td class="tiny">+/-</td>
<td><input id='mu_h_err' value=''></td>
<td class='unit'>[-]</td>
</tr><tr>
<th class='rowlabel'>Flywheel Target Velocity</th>
<td><input data-unit='omega' id='omega_w_0' value=3000></td><td class="tiny">+/-</td>
<td><input data-unit='omega' id='omega_w_0_err' value=''></td>
<td class='unit' data-unit='omega' id='unit_omega_w_0'>[-]</td>
</tr>
</table>
</div>
<div class="even" style='display:table-cell' id="user_input_wheel">
<div>
<span class="rowlabel">Motor</span>
<select class="doublewide" id="motor_select" oninput="MOTOR_selectMotor('motor'); compute();"></select>
<!--<button type="button" onclick="collapse('motor')" id='toggle_detail_motor'>▼</button>-->
</div>
<table id='detail_motor'>
<tr>
<th class="rowlabel"># Motors<span class="ttt">How many motors do you have in total for this mechanism (assuming they're identical, and geared together)</span> </th>
<td><input class='' id="motor_count" oninput="MOTOR_selectMotor('motor'); compute();" value=1 /></td>
</tr><tr>
<th class="rowlabel">Efficiency<span class="ttt">Efficiency of the transmission</span></th>
<td><input data-unit="pct" id="motor_efficiency" oninput="MOTOR_selectMotor('motor'); compute();" value=85 /></td>
<td class="unit" data-unit="pct"></td>
</tr><tr>
<th class="rowlabel">Resistance<span class="ttt">Resistance value.<br/>You could find this empirically using this tool by guessing values until the idle current matches your shooter.</span></th>
<td><input data-unit='kM' id="kM" oninput="MOTOR_selectMotor('motor'); compute();" value=0 /></td>
<td class='unit' data-unit='kM' id="unit_kM"></td>
</tr>
<tr>
<th></th>
<th class="collabel">Raw Motor</th>
<th class="collabel">Adjusted</th>
<th></th>
</tr>
<tr>
<th class="rowlabel">Free Speed<span class="ttt">The maximum RPM of the motor</span></th>
<td><input data-unit='omega' id="motor_max_speed" readonly /></td>
<td class='unit' data-unit='omega' >[RPM]</td>
</tr><tr>
<th class="rowlabel">Stall Torque<span class="ttt">The maximum torque of the motor, occurring at 0 RPM</span></th>
<td><input data-unit='torque' id="motor_stall_torque" readonly /></td>
<td class='unit' data-unit='torque' >[N-m]</td>
</tr><tr>
<th class="rowlabel">Free Current<span class="ttt">The current drawn when the motor is unloaded</span></th>
<td><input id="motor_free_current" readonly /></td>
<td class="unit">[A]</td>
</tr><tr>
<th class="rowlabel">Stall Current<span class="ttt">The current drawn at 0 RPM / Max Torque</span></th>
<td><input id="motor_stall_current" readonly /></td>
<td class="unit">[A]</td>
</tr>
</table>
<div class="odd">
<span class='rowlabel'>Gear Ratio<span class="ttt">The overall gear ratio. Larger than 1 is a reduction, smaller is a RPM increase. Empty cells are assumed to be 1. You can either blank out all the cells, and plug in a number in the top right one, or build a ratio by typing in the number of teeth on each gear (or belts/sprockets) starting from the motor.</span></span>
<input id="G" readonly/>
<!--<button type="button" onclick="collapse('gratio')" id='toggle_detail_gratio'>▼</button>-->
</div>
<table id='detail_gratio'>
<tr>
<td><input id="G1A" oninput="calcRatio()" /></td>
<td class="tiny">:</td>
<td><input id="G1B" oninput="calcRatio()" value=1 /></td>
</tr><tr>
<td><input id="G2A" oninput="calcRatio()" /></td>
<td class="tiny">:</td>
<td><input id="G2B" oninput="calcRatio()" /></td>
</tr><tr>
<td><input id="G3A" oninput="calcRatio()" /></td>
<td class="tiny">:</td>
<td><input id="G3B" oninput="calcRatio()" /></td>
</tr><tr>
<td><input id="G4A" oninput="calcRatio()" /></td>
<td class="tiny">:</td>
<td><input id="G4B" oninput="calcRatio()" /></td>
</tr>
</table>
</div>
<div class="output" style='display:table-cell' id="computed_outputs">
<table>
<tr>
<th class='rowlabel'>Exit Velocity</th>
<td><input data-unit='v' id='output_v_b_exit' readOnly></td><td class="tiny">+/-</td>
<td><input data-unit='v' id='output_v_b_exit_err' readOnly></td>
<td class='unit' data-unit='v' id='unit_exit_v'></td>
</tr><tr>
<th class='rowlabel'>Exit Angle</th>
<td><input data-unit='theta' id='output_theta_b_exit' readOnly></td><td class="tiny">+/-</td>
<td><input data-unit='theta' id='output_theta_b_exit_err' readOnly></td>
<td class='unit' id='unit_exit_theta'></td>
</tr><tr>
<th class='rowlabel'>Exit Ball Spin</th>
<td><input data-unit='omega' id='output_omega_b_exit' readOnly></td><td class="tiny">+/-</td>
<td><input data-unit='omega' id='output_omega_b_exit_err' readOnly></td>
<td class='unit' data-unit='omega' id='unit_exit_omega_b'></td>
</tr><tr>
<th class="rowlabel">Exit Flywheel RPM</th>
<td><input data-unit='omega' id="output_omega_w_exit" readOnly></td><td class="tiny">+/-</td>
<td><input data-unit='omega' id="output_omega_w_exit_err" readOnly></td>
<td class='unit' data-unit='omega' id='unit_exit_omega_w'></td>
</tr><!--<tr>
<th class="rowlabel">Settling Distance</th>
<td><input data-unit='position' id="settling_dist_min" readOnly></td>
<td class="tiny">to</td>
<td><input data-unit='position' id="settling_dist_max" readOnly></td>
<td class='unit' data-unit='position'></td>
</tr>--><tr>
<th class="rowlabel" colspan=3>Time to Recover</th>
<td><input id="t_rev_live" readOnly></td>
<td class="unit">[s]</td>
</tr><tr>
<th class="rowlabel" colspan=3>Current to Recover</th>
<td><input id="cur_cons_live" readOnly></td>
<td class="unit">[A-s]</td>
</tr><tr>
<th class="rowlabel" colspan=3>Time to Revved</th>
<td><input id="t_rev_dead" readOnly></td>
<td class="unit">[s]</td>
</tr><tr>
<th class="rowlabel" colspan=3>Current to Rev</th>
<td><input id="cur_cons_dead" readOnly></td>
<td class="unit">[A-s]</td>
</tr><tr>
<th class="rowlabel" colspan=3>Idle Current</th>
<td><input id="cur_idle" readOnly></td>
<td class="unit">[A]</td>
</tr>
</table>
</div>
<div class="even" style='display:table-cell'>
<input class="dropdown" type="checkbox" id="toggle_tips">
<label class="dropdown" for="toggle_tips" id="toggle_tips_label">Show Tips</label>
<div class="dropdown" style="width: 300px">
<p>The plot displays the run with the highest exit velocity, and lowest exit velocity.</p>
<p>Click on the plot to probe particular points for values.</p>
</div>
</div>
</div>
</div>
<div style="margin-left: 0px; display:table-cell;" class="container" id="charts">
<div>
<div style="margin-left: 0px; display:table-cell;">
<center>Launch Simulation</center>
<svg version="1.2" class="plot" id='chart_launch' aria-labelledby="title" role="img" style="height:550px; width:800px;">
<rect class="plot-background" id="chart_launch_background" x=110 y=20 width=615 height=430 />
<g>
<line id="chart_launch_x_axis" class="plot-axis" x1=110 x2=725 y1=450 y2=450></line>
<line id="chart_launch_y_axis" class="plot-axis" x1=110 x2=110 y1=20 y2=450></line>
<line id="chart_launch_z_axis" class="plot-axis" x1=725 x2=725 y1=20 y2=450></line>
</g>
<g class="plot-grid" id="chart_launch_x_grid"></g>
<g class="plot-grid" id="chart_launch_y_grid"></g>
<g class="plot-grid" id="chart_launch_z_grid"></g>
<g class="plot-labels">
<text x="425" y=485 class="plot-titlelabel unit" data-unit="position" id="chart_launch_u_label">Position []</text>
<text x=-320 y=15 class="plot-titlelabel unit" data-unit="v" transform="rotate(270)" id="chart_launch_v_b_label" fill="#0074d9">Ball Velocity []</text>
<text x=-160 y=15 class="plot-titlelabel unit" data-unit="omega" transform="rotate(270)" id="chart_launch_omega_b_label" fill="#d91200">Ball Spin []</text>
<text x=-240 y=15 class="plot-titlelabel" transform="rotate(270)" id="chart_launch_y1_divider" fill="#111">/</text>
<text x=-240 y=800 class="plot-titlelabel unit" data-unit="omega" transform="rotate(270)" id="chart_launch_omega_w_label" fill="#c48900">Flywheel Speed []</text>
</g>
<g class="plot-axlabels" id='chart_launch_x_axlabels'></g>
<g class="plot-axlabels" id='chart_launch_z_axlabels'></g>
<g class="plot-axlabels" id='chart_launch_y_axlabels'></g>
<g>
<line class="plot-querybar" id="chart_launch_querybar" x1=100 x2=100 y1=15 y2=455 opacity=0></line>
<line class="plot-markerbar" id="chart_launch_stable_line_1" x1=110 x2=110 y1=15 y2=455 opacity=0></line>
<line class="plot-markerbar" id="chart_launch_stable_line_2" x1=110 x2=110 y1=15 y2=455 opacity=0></line>
</g>
<polyline
id='chart_launch_v_b_line'
stroke='#0074d9'
fill='#0074d9'
fill-opacity=0.3
stroke-width=2
points="
"/>
<polyline
id='chart_launch_omega_b_line'
stroke='#d91200'
fill='#d91200'
fill-opacity=0.3
stroke-width=2
points="
"/>
<polyline
id='chart_launch_omega_w_line'
stroke='#c48900'
fill='#c48900'
stroke-width=2
fill-opacity=0.3
points="
"/>
</svg>
<div class="output-plot" id="chart_launch_querytable" style="display:none;">
<table>
<tr>
<th class="rowlabel">Queried Position<span class="ttt">Query a position on the graph by clicking (and optionally dragging) a point. Position represented by a vertical bar.</span></th>
<td><input data-unit='position' id="chart_launch_u_1" onkeyup="focus_handler(getV('query_u'), true);" /><input data-unit='position' id="chart_launch_u_2" hidden /></td>
<td class='unit' data-unit='position'>[s]</td>
</tr><tr>
<th class="rowlabel">Time</th>
<td><input id="chart_launch_t_1" readonly /></td>
<td><input id="chart_launch_t_2" readonly /></td>
<td class="unit">[s]</td>
</tr><tr>
<th class="rowlabel">Timestep</th>
<td><input id="chart_launch_INDEX_1" readonly /></td>
<td><input id="chart_launch_INDEX_2" readonly /></td>
<td class="unit"></td>
</tr><tr>
<th class="rowlabel">Ball Velocity</th>
<td><input data-unit='v' id="chart_launch_v_b_1" readonly /></td>
<td><input data-unit='v' id="chart_launch_v_b_2" readonly /></td>
<td class='unit' data-unit='v'></td>
</tr><tr>
<th class="rowlabel">Ball Spin</th>
<td><input data-unit='omega' id="chart_launch_omega_b_1" readonly /></td>
<td><input data-unit='omega' id="chart_launch_omega_b_2" readonly /></td>
<td class='unit' data-unit='omega'>[A]</td>
</tr><tr>
<th class="rowlabel">Flywheel Speed</th>
<td><input data-unit='omega' id="chart_launch_omega_w_1" readonly /></td>
<td><input data-unit='omega' id="chart_launch_omega_w_2" readonly /></td>
<td class='unit' data-unit='omega'></td>
</tr><tr>
<th class="rowlabel">Hood Normal</th>
<td><input data-unit='force' id="chart_launch_N_h_1" readonly /></td>
<td><input data-unit='force' id="chart_launch_N_h_2" readonly /></td>
<td class='unit' data-unit='force'></td>
</tr><tr>
<th class="rowlabel">Hood Force</th>
<td><input data-unit='force' id="chart_launch_F_h_1" readonly /></td>
<td><input data-unit='force' id="chart_launch_F_h_2" readonly /></td>
<td class='unit' data-unit='force'></td>
</tr><tr>
<th class="rowlabel">Flywheel Normal</th>
<td><input data-unit='force' id="chart_launch_N_w_1" readonly /></td>
<td><input data-unit='force' id="chart_launch_N_w_2" readonly /></td>
<td class='unit' data-unit='force'></td>
</tr><tr>
<th class="rowlabel">Flywheel Force</th>
<td><input data-unit='force' id="chart_launch_F_w_1" readonly /></td>
<td><input data-unit='force' id="chart_launch_F_w_2" readonly /></td>
<td class='unit' data-unit='force'></td>
</tr>
</table>
</div>
</div><div style="margin-left: 0px; display:table-cell;" >
<center>Spin-Up Simulation</center>
<svg version="1.2" class="plot" id='chart_rev' aria-labelledby="title" role="img" style="height:550px; width:800px;">
<rect class="plot-background" id="chart_rev_background" x=90 y=20 width=615 height=430 />
<g>
<line id="chart_rev_x_axis" class="plot-axis" x1=90 x2=705 y1=450 y2=450></line>
<line id="chart_rev_y_axis" class="plot-axis" x1=90 x2=90 y1=20 y2=450></line>
<line id="chart_rev_z_axis" class="plot-axis" x1=705 x2=705 y1=20 y2=450></line>
</g>
<g class="plot-grid" id="chart_rev_x_grid"></g>
<g class="plot-grid" id="chart_rev_y_grid"></g>
<g class="plot-grid" id="chart_rev_z_grid"></g>
<g class="plot-labels">
<text x=405 y=485 class="plot-titlelabel" id="chart_rev_t_label">Time [s]</text>
<text x=-240 y=15 class="plot-titlelabel unit" transform="rotate(270)" id="chart_rev_cur_label" fill="#d91200">Current Draw [A]</text>
<text x=-240 y=800 class="plot-titlelabel unit" transform="rotate(270)" data-unit="omega" id="chart_rev_omega_label" fill="#0074d9">Flywheel Speed [RPM]</text>
</g>
<g class="plot-axlabels" id='chart_rev_x_axlabels'></g>
<g class="plot-axlabels" id='chart_rev_z_axlabels'></g>
<g class="plot-axlabels" id='chart_rev_y_axlabels'></g>
<g>
<line class="plot-querybar" id="chart_rev_querybar" x1=100 x2=100 y1=15 y2=555 opacity=0></line>
<line class="plot-markerbar" id="chart_rev_stable_line_2" x1=100 x2=100 y1=15 y2=455 opacity=0></line>
<line class="plot-markerbar" id="chart_rev_stable_line_1" x1=100 x2=100 y1=15 y2=455 opacity=0></line>
</g>
<polyline
id='chart_rev_omega_line'
stroke='#0074d9'
fill=none
stroke-width=2
points="
"/>
<polyline
id='chart_rev_cur_line'
stroke='#d91200'
fill=none
stroke-width=2
points="
"/>
</svg>
<div class="output-plot" id="chart_rev_querytable" style="display:none;">
<table>
<tr>
<th class="rowlabel">Queried Time<span class="ttt">Query a time on the graph by clicking (and optionally dragging) a point. Position represented by a vertical bar.</span></th>
<td><input id="chart_rev_t" /></td>
<td class="unit">[s]</td>
</tr><tr>
<th class="rowlabel">Timestep</th>
<td><input id="chart_rev_INDEX" readonly /></td>
<td class="unit"></td>
</tr><tr>
<th class="rowlabel">Flywheel Speed</th>
<td><input data-unit='omega' id="chart_rev_omega" readonly /></td>
<td class='unit' data-unit='omega'>[RPM]</td>
</tr><tr>
<th class="rowlabel">Current</th>
<td><input id="chart_rev_cur" readonly /></td>
<td class="unit">[A]</td>
</tr>
</table>
</div>
</div>
</div>
</div>
</body>
</html>