update examples

examples/plot_step_response.jl → examples/plot_step_response_kcu1.jl

@@ -1,20 +1,20 @@
 using Pkg
-if ! haskey(Pkg.installed(), "ControlPlots")
+if ! ("ControlPlots" ∈ keys(Pkg.project().dependencies))
     using TestEnv; TestEnv.activate()
 end
 using KitePodModels, ControlPlots
 
-const t_end = 10.0 # simulation time
-const dt = 1.0 / se().sample_freq
+t_end = 10.0 # simulation time
+dt = 1.0 / se().sample_freq
 
 kcu = KCU(se())
 
-const times = Float64[]
-const depower = Float64[]
-const depower_set = Float64[]
-const steering = Float64[]
-const steering_set = Float64[]
-const rel_depower_offset = se().depower_offset/100.0
+times = Float64[]
+depower = Float64[]
+depower_set = Float64[]
+steering = Float64[]
+steering_set = Float64[]
+rel_depower_offset = se().depower_offset/100.0
 for step in 1:Int(round(t_end/dt))
     time = step * dt
     if step < 20
@@ -32,7 +32,7 @@ for step in 1:Int(round(t_end/dt))
     push!(steering, get_steering(kcu))
 end
 p = plotx(times, [depower, depower_set], [steering, steering_set]; ylabels=["depower","steering"], 
-          labels=[["depower","depower_set"], ["steering", "steering_set"]], fig="step_response")
+          labels=[["depower","depower_set"], ["steering", "steering_set"]], fig="step_response KCU1")
 display(p)
-savefig("docs/src/step_response.png")
-println("Saved step response in docs/src/step_response.png !")
+savefig("docs/src/step_response_kcu1.png")
+println("Saved step response in docs/src/step_response_kcu2.png !")

examples/plot_step_response_kcu2.jl

@@ -0,0 +1,39 @@
+using Pkg
+if ! ("ControlPlots" ∈ keys(Pkg.project().dependencies))
+    using TestEnv; TestEnv.activate()
+end
+using KitePodModels, ControlPlots
+
+set = se("system2.yaml")
+
+t_end = 10.0               # simulation time
+dt = 1.0 / set.sample_freq # sampling time
+kcu = KCU(set)
+
+times = Float64[]
+depower = Float64[]
+depower_set = Float64[]
+steering = Float64[]
+steering_set = Float64[]
+rel_depower_offset = set.depower_offset/100.0
+for step in 1:Int(round(t_end/dt))
+    time = step * dt
+    if step < 20
+        set_depower_steering(kcu, rel_depower_offset, 0.0)
+        push!(depower_set, rel_depower_offset)
+        push!(steering_set, 0.0)
+    else
+        set_depower_steering(kcu, rel_depower_offset+0.24, 0.5)
+        push!(depower_set, rel_depower_offset+0.24)
+        push!(steering_set, 0.5)
+    end
+    push!(times, time)
+    KitePodModels.on_timer(kcu)
+    push!(depower, get_depower(kcu))
+    push!(steering, get_steering(kcu))
+end
+p = plotx(times, [depower, depower_set], [steering, steering_set]; ylabels=["depower","steering"], 
+          labels=[["depower","depower_set"], ["steering", "steering_set"]], fig="step_response KCU2")
+display(p)
+savefig("docs/src/step_response_kcu2.png")
+println("Saved step response in docs/src/step_response.png_kcu2 !")