[chronojump] EncoderConfigs at updateEncoderCaptureGraph
- From: Xavier de Blas <xaviblas src gnome org>
- To: commits-list gnome org
- Cc:
- Subject: [chronojump] EncoderConfigs at updateEncoderCaptureGraph
- Date: Mon, 3 Feb 2014 15:37:15 +0000 (UTC)
commit 9747c6aefa676b240853de62eecc065a89645d49
Author: Xavier de Blas <xaviblas gmail com>
Date: Mon Feb 3 16:34:46 2014 +0100
EncoderConfigs at updateEncoderCaptureGraph
encoder/graph.R | 18 +++++-----
src/gui/encoder.cs | 15 ++++++--
src/utilEncoder.cs | 103 ++++++++++++++++++++++++++++++++++++++++++----------
3 files changed, 103 insertions(+), 33 deletions(-)
---
diff --git a/encoder/graph.R b/encoder/graph.R
index 858b405..14b02af 100644
--- a/encoder/graph.R
+++ b/encoder/graph.R
@@ -331,13 +331,13 @@ findSmoothingsEC <- function(displacement, curves, eccon, smoothingOneC) {
concentric=displacement[(curves[i,1]+start):(curves[i,1]+end)]
#get max speed at "c"
- speed <- smooth.spline( 1:length(concentric), concentric, spar=smoothingOneC)
+ speed <- getSpeed(concentric, smoothingOneC)
maxSpeedC=max(speed$y)
#find max speed at "ec" that's similar to maxSpeedC
smoothingOneEC = smoothingOneC
for(j in seq(as.numeric(smoothingOneC),0,by=-.01)) {
- speed <- smooth.spline( 1:length(eccentric.concentric), eccentric.concentric,
spar=j)
+ speed <- getSpeed(eccentric.concentric, j)
smoothingOneEC = j
maxSpeedEC=max(speed$y)
print(c("maxC",maxSpeedC,"maxEC",maxSpeedEC))
@@ -365,7 +365,7 @@ reduceCurveBySpeed <- function(eccon, row, startT, displacement, smoothingOneEC,
if(eccon == "c" || eccon == "ecS" || eccon == "ceS")
smoothing = smoothingOneC
- speed <- smooth.spline( 1:length(displacement), displacement, spar=smoothing)
+ speed <- getSpeed(displacement, smoothing)
speed.ext=extrema(speed$y)
@@ -528,12 +528,12 @@ kinematicsF <- function(displacement, massBody, massExtra, exercisePercentBodyWe
#x vector should contain at least 4 different values
if(length(displacement) >= 4)
- speed <- smooth.spline( 1:length(displacement), displacement, spar=smoothing)
+ speed <- getSpeed(displacement, smoothing)
else
speed=list(y=rep(0,length(displacement)))
if(length(displacement) >= 4)
- accel <- predict( speed, deriv=1 )
+ accel <- getAcceleration(speed)
else
accel=list(y=rep(0,length(displacement)))
@@ -717,7 +717,7 @@ paint <- function(displacement, eccon, xmin, xmax, yrange, knRanges, superpose,
par(mar=c(1, 1, 4, 1))
#plot distance
- #plot(a,type="h",xlim=c(xmin,xmax),xlab="time (ms)",ylab="Left: distance (mm); Right: speed
(m/s), accelration (m/s^2)",col="gray", axes=F) #this shows background on distance (nice when plotting
distance and speed, but confusing when there are more variables)
+ #plot(a,type="h",xlim=c(xmin,xmax),xlab="time (ms)",ylab="Left: distance (mm); Right: speed
(m/s), acceleration (m/s^2)",col="gray", axes=F) #this shows background on distance (nice when plotting
distance and speed, but confusing when there are more variables)
xlab="";ylab="";
#if(showLabels) {
# xlab="time (ms)"
@@ -765,7 +765,7 @@ paint <- function(displacement, eccon, xmin, xmax, yrange, knRanges, superpose,
}
#speed
- speed <- smooth.spline( 1:length(displacement), displacement, spar=smoothing)
+ speed <- getSpeed(displacement, smoothing)
if(draw & showSpeed) {
ylim=c(-max(abs(range(displacement))),max(abs(range(displacement)))) #put 0 in the middle
@@ -860,7 +860,7 @@ paint <- function(displacement, eccon, xmin, xmax, yrange, knRanges, superpose,
#if(inertialType == "ri" && eccon == "ce")
# speed$y=abs(speed$y)
- accel <- predict( speed, deriv=1 )
+ accel <- getAcceleration(speed)
#speed comes in mm/ms when derivate to accel its mm/ms^2 to convert it to m/s^2 need to *1000 because
it's quadratic
accel$y <- accel$y * 1000
@@ -2059,7 +2059,7 @@ doProcess <- function(options) {
#plot speed
par(new=T)
- speed <- smooth.spline( 1:length(displacement), displacement, spar=smoothingAll)
+ speed <- getSpeed(displacement, smoothingAll)
plot((1:length(displacement))/1000, speed$y, col="green2",
type="l",
xlim=c(1,length(displacement))/1000, #ms -> s
diff --git a/src/gui/encoder.cs b/src/gui/encoder.cs
index ebeeaaa..0f07ce9 100644
--- a/src/gui/encoder.cs
+++ b/src/gui/encoder.cs
@@ -1802,8 +1802,7 @@ public partial class ChronoJumpWindow
if(byteReadedRaw > 128)
byteReadedRaw = byteReadedRaw - 256;
- byteReaded = UtilEncoder.EncoderConfigurationConversions(
- byteReadedRaw, encoderConfigurationCurrent);
+ byteReaded = UtilEncoder.GetDisplacement(byteReadedRaw, encoderConfigurationCurrent);
i=i+1;
if(i >= 0) {
@@ -3807,6 +3806,7 @@ Log.WriteLine(str);
}
string encoderCaptureStringR;
+ double massDisplacedEncoder = 0;
private void updateEncoderCaptureGraphRCalc()
{
@@ -3995,9 +3995,10 @@ Log.WriteLine(str);
}
//end of propulsive stuff
- NumericVector mass = rengine.CreateNumericVector(new double[]
{findMass(Constants.MassType.DISPLACED)});
- rengine.SetSymbol("mass", mass);
+ NumericVector mass = rengine.CreateNumericVector(new double[] { massDisplacedEncoder
});
+ rengine.SetSymbol("mass", mass);
+
//if isJump == "True":
rengine.Evaluate("force <- mass*(accel$y+9.81)");
@@ -4160,6 +4161,12 @@ Log.WriteLine(str);
capturingCsharp = true;
eccaCreated = false;
+
+ //TODO: add demult and angle
+ massDisplacedEncoder =
UtilEncoder.GetMassByEncoderConfiguration(encoderConfigurationCurrent,
+ findMass(Constants.MassType.BODY), findMass(Constants.MassType.EXTRA),
+ getExercisePercentBodyWeightFromCombo(), 1, 90
+ );
encoderThreadCapture = new Thread(new ThreadStart(captureCsharp));
GLib.Idle.Add (new GLib.IdleHandler (pulseGTKEncoderCapture));
diff --git a/src/utilEncoder.cs b/src/utilEncoder.cs
index 153f25d..06e1175 100644
--- a/src/utilEncoder.cs
+++ b/src/utilEncoder.cs
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Copyright (C) 2004-2012 Xavier de Blas <xaviblas gmail com>
+ * Copyright (C) 2004-2014 Xavier de Blas <xaviblas gmail com>
*/
using System;
@@ -441,25 +441,6 @@ public class UtilEncoder
return fileCurve;
}
- //this == encoder/graph.R encoderConfigurationConversions
-
- public static double EncoderConfigurationConversions(
- int byteReaded, EncoderConfiguration ec) {
- double byteConverted = byteReaded;
-
- //invert sign if inverted is selected
- if(ec.name == Constants.EncoderConfigurationNames.LINEARINVERTED)
- byteConverted *= -1;
- else if(ec.name == Constants.EncoderConfigurationNames.ROTARYAXIS) {
- int ticksRotaryEncoder = 200; //our rotary axis encoder send 200 ticks by turn
- //diameter m -> mm
- byteConverted = ( byteConverted / ticksRotaryEncoder ) * 2 * Math.PI * ( ec.d * 1000
/ 2 );
- }
- //Log.Write(" " + byteReaded + ":" + byteConverted);
-
- return byteConverted;
- }
-
public static ArrayList EncoderConfigurationList(Constants.EncoderType encoderType) {
ArrayList list = new ArrayList();
if(encoderType == Constants.EncoderType.LINEAR) {
@@ -501,4 +482,86 @@ public class UtilEncoder
return list;
}
+ /* -------- EncoderConfiguration, kinematics and Dynamics ----
+ *
+ * this is the same than graph.R
+ * -------------------------------------------------------- */
+
+ /*
+ * in signals and curves, need to do conversions (invert, inertiaMomentum, diameter)
+ * we use 'data' variable because can be position or displacement
+ */
+
+ public static double GetDisplacement(int byteReaded, EncoderConfiguration ec) {
+ /* no change:
+ * WEIGHTEDMOVPULLEYLINEARONPERSON1, WEIGHTEDMOVPULLEYLINEARONPERSON1INV,
+ * WEIGHTEDMOVPULLEYLINEARONPERSON2, WEIGHTEDMOVPULLEYLINEARONPERSON2INV,
+ * LINEARONPLANE, ROTARYFRICTIONSIDE, WEIGHTEDMOVPULLEYROTARYFRICTION
+ */
+
+ double data = byteReaded;
+ if(ec.name == Constants.EncoderConfigurationNames.LINEARINVERTED) {
+ data *= -1;
+ } else if(ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYONLINEARENCODER) {
+ //default is: demultiplication = 2. Future maybe this will be a parameter
+ data *= 2;
+ } else if(ec.name == Constants.EncoderConfigurationNames.ROTARYFRICTIONAXIS) {
+ data = data * ec.d / ec.d2;
+ } else if(
+ ec.name == Constants.EncoderConfigurationNames.ROTARYAXIS ||
+ ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYROTARYAXIS)
+ {
+ int ticksRotaryEncoder = 200; //our rotary axis encoder send 200 ticks by turn
+ //diameter m -> mm
+ data = ( data / ticksRotaryEncoder ) * 2 * Math.PI * ( ec.d * 1000 / 2 );
+ }
+ return data;
+ }
+
+ //demult is positive, normally 2
+ private static double getMass(double mass, int demult, int angle) {
+ if(mass == 0)
+ return 0;
+
+ return ( ( mass / demult ) * Math.Sin( angle * Math.PI / 180 ) );
+ }
+
+ private static double getMassBodyByExercise(double massBody, int exercisePercentBodyWeight) {
+ if(massBody == 0 || exercisePercentBodyWeight == 0)
+ return 0;
+
+ return (massBody * exercisePercentBodyWeight / 100.0);
+ }
+
+ public static double GetMassByEncoderConfiguration(
+ EncoderConfiguration ec, double massBody, double massExtra,
+ int exercisePercentBodyWeight, int demult, int angle)
+ {
+ massBody = getMassBodyByExercise(massBody, exercisePercentBodyWeight);
+
+ if(
+ ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYLINEARONPERSON1 ||
+ ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYLINEARONPERSON1INV ||
+ ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYLINEARONPERSON2 ||
+ ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYLINEARONPERSON2INV ||
+ ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYROTARYFRICTION ||
+ ec.name == Constants.EncoderConfigurationNames.WEIGHTEDMOVPULLEYROTARYAXIS
+ ) {
+ /*
+ * angle will be 90 degrees. We assume this.
+ * Maybe in the future, person or person and extra weight,
+ * can have different angles
+ */
+ massExtra = getMass(massExtra, demult, angle);
+ }
+ else if(ec.name == Constants.EncoderConfigurationNames.LINEARONPLANE) {
+ massBody = getMass(massBody, demult, angle);
+ massExtra = getMass(massExtra, demult, angle);
+ }
+
+ return (massBody + massExtra);
+ }
+
+ /* ----end of EncoderConfiguration, kinematics and Dynamics ---- */
+
}
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