[chronojump] Testing a new method to calcule movement and Dynamics

[Xavier Padullés <xpadulles src gnome org>]

commit 54343ccefc888ff91f44952abf9b2e797068dc3c
Author: Xavier Padullés <x padulles gmail com>
Date:   Sat Jul 25 14:17:27 2015 +0200

    Testing a new method to calcule movement and Dynamics

 encoder/tests/getDynamics2016/README.txt    |    2 +
 encoder/tests/getDynamics2016/getDynamics.R |  128 +++++++++++++++++++++++++++
 2 files changed, 130 insertions(+), 0 deletions(-)
---
diff --git a/encoder/tests/getDynamics2016/README.txt b/encoder/tests/getDynamics2016/README.txt
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--- /dev/null
+++ b/encoder/tests/getDynamics2016/README.txt
@@ -0,0 +1,2 @@
+This file implements the function to get the dynamics of any exercise. It requires the new interface where 
the configuration of the machine is associated to the
+exercise configuration.
diff --git a/encoder/tests/getDynamics2016/getDynamics.R b/encoder/tests/getDynamics2016/getDynamics.R
new file mode 100644
index 0000000..55ce159
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+++ b/encoder/tests/getDynamics2016/getDynamics.R
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+
+#This version uses only one formula commented in each factor. It returns the mm advanced each ms.
+getMovement <- function(
+  encoderSignal, #ticks per ms coming from the encoder
+  inverted,  # The encoder is inverted if in concentric movement the signal is negative
+  #-1 (encoder inverted) or 1 (encoder NOT inverted). 
+  gearedDown, # speed of person divided by speed of machine. Used in machines with moving pulleys
+  encoderOnMachine,  # TRUE if the encoder measures directly the movement of the body. FALSE the encoder 
measures the movememt of the load
+  encoderType, 
+  diameterRope, # diameter where the rope of the machine is wrapped.
+  diameterEncoder) # In encoders "LINEAR" or "ROTARYAXIS", diameter where the encoder are measuring.
+  # If the encoder and the rope are attached to the same point diameterRope=diameterEncoder) 
+{
+  # On LINEAR encoder movement = R * (signal/200) * (2*pi) = signal * D * pi / 200
+  # We asume D / (200 / pi) = D / d ----> d= 200 / pi
+  
+  # It should be assignet in the interface if encoderType = "LINEAR"
+  if(encoderType == "LINEAR"){
+    diameterEncoder == 200 / pi
+  }
+  movementBody = (
+    encoderSignal
+    * inverted           #Change the sign of the signal if is inverted (-1) and do nothing if not inverted 
(1)
+    * (diameterRope / diameterEncoder) #On ROTARYFRICTION or LINEAR, if the encoder is not in the same 
diameter
+                                        #as the rope this proportion gives the realmovement of the rope
+    * gearedDown          #If the encoder is attached to the machine movementBody is multiplied by this 
factor
+    ^ encoderOnMachine    #If the encoder is attached to the machine (1) gearedDown is multiplied
+  )                       #If the encoder is attached to the the body (0) gearedDown is not used
+  
+  movementMachine = (
+    encoderSignal
+    * inverted                         #Change the sign of the signal if is inverted (-1) and do nothing if 
not inverted (1)
+    * (diameterRope / diameterEncoder) #On ROTARYFRICTION, if the encoder is not in the same diameter
+                                       #as the rope this proportion gives the realmovement of the rope
+    / gearedDown                       #If the encoder is attached to the body movementMachine is divided by 
this factor
+    ^ (1 - encoderOnMachine)           #If the encoder is attached to the body (0) gearedDown is divided
+  )                                    #If the encoder is attached to the the body (1) gearedDown is not used
+  
+  return(list(body = movementBody, machine = movementMachine))
+}
+
+
+getDynamics <- function(
+  movementBody, #movement of the body
+  movementMachine, #movement of the load. mm in gravitatory. Rad in inertial
+  encoderType, # "LINEAR" , "ROTARYFRICTION" or "ROTARYAXIS"
+  anglePush, # Angle from the floor to the line of movement of the person
+  angleWeight, # Angle from the floor to the line of movement of the resistance
+  diameterRope, # Diameter of the axis
+  diameterEncoder, # Diameter where Linear or RotaryFriction encoder are attached
+  massBody, # mass in Kg of the person
+  exerciseBodyWeight, # Percentage of the body moved in this exercise
+  massLoad) # mass of the extra load
+{
+  forceMachineInertial = abs(inertiaMomentum * angleAccel) * (2 / diameter.m) #Force raveived by the inertal 
machine
+  forceMachineGravitatory = massExtra*(g*sin(angleWeight * pi / 180) + accelMachine) #Force received by 
gravitatory machine
+  forceBody = massBody * (exerciseBodyWeight / 100) * accelBody #Force received by the body
+  forceBodyWeight = g * sin(anglePush * pi / 180 # Body Weight force
+  powerMachineInertial = abs((inertiaMomentum * angleAccel) * angleSpeed) #Power received by the inertial 
machine
+  powerMachineGravitatory = forceMachineGravitatory * speedMachine #Power received by the gravitatory machine
+  powerBody = abs( (massBody * accelBody + massLoad * g * sin(anglePush * pi / 180)) * speed) #Total power 
received by the body
+  
+  force = forceMachineInertial + forceMachineGravitatory + forceTotalBody + forceBodyWeight
+  power = powerMachineInertial + PowerMachineGravitatory + powerBody
+  
+  return(list(
+    massBody = massBody,
+    force = force,
+    power = power,
+    forceMachineInertial = forceMachineInertial,
+    forceMachineGravitatory = forceMachineGravitatory,
+    forceBody = forceBody,
+    forceBodyWeight = forceBodyWeight,
+    powerMachineInertial = powerMachineInertial,
+    PowerMachineGravitatory = PowerMachineGravitatory,
+    powerBody = powerBody))
+}
+
+################### Not necessary if the above function is 
used###################################################
+#
+# #TODO. It doesn't work with ROTARYAXIS
+# getMovementGravitatory <- function(encoderSignal,     #number of ticks advanced every ms in the encoder.
+#                                    inverted,          # The encoder is inverted if in concentric movement 
the signal is negative
+#                                    #-1 (encoder inverted) or 1 (encoder NOT inverted). 
+#                                    gearedDown,        # speed of person divided by speed of machine. Used 
in machines with moving pulleys
+#                                    encoderOnMachine,  # TRUE if the encoder measures directly the movement 
of the body.
+#                                    # FALSE the encoder measures the movememt of the load
+#                                    encoderType        # LINEAR , ROTARYFRICTION or ROTARYAXIS
+#                                    diameterRope,      # diameter where the rope of the machine is wrapped.
+#                                    diameterEncoder)   # In encoders "LINEAR" or "ROTARYAXIS", diameter 
where the encoder are measuring.
+#   # If the encoder and the rope are attached to the same point diameterRope=diameterEncoder) 
+# {
+#   if(gearedDown == 1){          # The body and the machine have the same movement
+#     movementBody = encoderSignal * (diameterRope / diameterEncoder)
+#     movementMachine = encoderSignal * diameterRope / diameterEncoder
+#   }
+# } else if(gearedDown != 1){   # The body moves gearedDown times faster than the machine
+#   if (encoderOnMachine == 0){
+#     movementBody = encoderSignal * inverted * (diameterRope / diameterEncoder)
+#     movementMachine = encoderSignal * inverted * (diameterRope / diameterEncoder) / gearedDown
+#   } else if(encoderOnMachine == 1){
+#     movementBody = encoderSignal * inverted * (diameterRope / diameterEncoder) * gearedDown
+#     movementMachine = encoderSignal * inverted * (diameterRope / diameterEncoder)
+#   }
+# }
+# return(list(movementBody = movementBody, movementMachine = movementMachine))
+# }
+# 
+# getMovementInertial <- function(encoderSignal, # ticks per ms coming from the encoder
+#                                 encoderType, # "LINEAR", "ROTARYFRICTION" OR "ROTARYAXIS"
+#                                 ticksPerRevolution, # Technical specifiaction of the encoder. In 
ROTARYAXIS encoders, number of ticks every revolution
+#                                 diameterRope, # diameter where the rope of the machine is wrapped
+#                                 diameterEncoder) # In encoders "LINEAR" or "ROTARYAXIS", diameter where 
the encoder are measuring.
+#   # If the encoder and the rope are attached to the same point diameterRope=diameterEncoder
+# {
+#   if(gearedDown == 1){
+#     if (encoderType == "LINEAR" || encoderType == "ROTARYFRICTION"){ # Both types of encoders measures mm 
per ms
+#       movementBody = encoderSignal * diameterRope / diameterEncoder
+#       movementMachine = encoderSignal * 2 / diameterEncoder # The movement is measured in rad/ms
+#     } else if(encoderType == "ROTARYAXIS"){
+#       movementBody = encoderSignal * (2 * pi / ticksPerRevolution) * (diameterRope / 2) * gearedDown
+#       movementMachine = encoderSignal * (2 * pi / ticksPerRevolution) # The movement is measured in rad/ms
+#     }
+#   }
+#   return(list(movementBody = movementBody, movementMachine = movementMachine))
+# }
+#
+################################################################################################################
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