diff --git a/exploration_modeling_toolkit.ipynb b/exploration_modeling_toolkit.ipynb
index 7fec51502cbc3200b3d0ffc6bbba1fe85e197f3d..bac329f8eefd055b40d8b825ce89a84ceda366e1 100644
--- a/exploration_modeling_toolkit.ipynb
+++ b/exploration_modeling_toolkit.ipynb
@@ -1,6 +1,523 @@
{
- "cells": [],
- "metadata": {},
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "using ModelingToolkit, Plots, DifferentialEquations"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "ConstantVoltage (generic function with 1 method)"
+ ]
+ },
+ "execution_count": 2,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "@variables t\n",
+ "@connector function Pin(;name)\n",
+ " sts = @variables v(t)=1.0 i(t)=1.0 [connect = Flow]\n",
+ " ODESystem(Equation[], t, sts, []; name=name)\n",
+ "end\n",
+ "\n",
+ "function Ground(;name)\n",
+ " @named g = Pin()\n",
+ " eqs = [g.v ~ 0]\n",
+ " compose(ODESystem(eqs, t, [], []; name=name), g)\n",
+ "end\n",
+ "\n",
+ "function OnePort(;name)\n",
+ " @named p = Pin()\n",
+ " @named n = Pin()\n",
+ " sts = @variables v(t)=1.0 i(t)=1.0\n",
+ " eqs = [\n",
+ " v ~ p.v - n.v\n",
+ " 0 ~ p.i + n.i\n",
+ " i ~ p.i\n",
+ " ]\n",
+ " compose(ODESystem(eqs, t, sts, []; name=name), p, n)\n",
+ "end\n",
+ "\n",
+ "function Resistor(;name, R = 1.0)\n",
+ " @named oneport = OnePort()\n",
+ " @unpack v, i = oneport\n",
+ " ps = @parameters R=R\n",
+ " eqs = [\n",
+ " v ~ i * R\n",
+ " ]\n",
+ " extend(ODESystem(eqs, t, [], ps; name=name), oneport)\n",
+ "end\n",
+ "\n",
+ "function Capacitor(;name, C = 1.0)\n",
+ " @named oneport = OnePort()\n",
+ " @unpack v, i = oneport\n",
+ " ps = @parameters C=C\n",
+ " D = Differential(t)\n",
+ " eqs = [\n",
+ " D(v) ~ i / C\n",
+ " ]\n",
+ " extend(ODESystem(eqs, t, [], ps; name=name), oneport)\n",
+ "end\n",
+ "\n",
+ "function ConstantVoltage(;name, V = 1.0)\n",
+ " @named oneport = OnePort()\n",
+ " @unpack v = oneport\n",
+ " ps = @parameters V=V\n",
+ " eqs = [\n",
+ " V ~ v\n",
+ " ]\n",
+ " extend(ODESystem(eqs, t, [], ps; name=name), oneport)\n",
+ "end"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "\u001b[0m\u001b[1mModel rc_model with 17 equations\u001b[22m\n",
+ "\u001b[0m\u001b[1mStates (20):\u001b[22m\n",
+ " resistor₊v(t) [defaults to 1.0]\n",
+ " resistor₊i(t) [defaults to 1.0]\n",
+ " resistor₊p₊v(t) [defaults to 1.0]\n",
+ " resistor₊p₊i(t) [defaults to 1.0]\n",
+ " resistor₊n₊v(t) [defaults to 1.0]\n",
+ " resistor₊n₊i(t) [defaults to 1.0]\n",
+ "⋮\n",
+ "\u001b[0m\u001b[1mParameters (3):\u001b[22m\n",
+ " resistor₊R [defaults to 1.0]\n",
+ " capacitor₊C [defaults to 1.0]\n",
+ " source₊V [defaults to 1.0]"
+ ]
+ },
+ "execution_count": 3,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "R = 1.0\n",
+ "C = 1.0\n",
+ "V = 1.0\n",
+ "@named resistor = Resistor(R=R)\n",
+ "@named capacitor = Capacitor(C=C)\n",
+ "@named source = ConstantVoltage(V=V)\n",
+ "@named ground = Ground()\n",
+ "\n",
+ "rc_eqs = [\n",
+ " connect(source.p, resistor.p)\n",
+ " connect(resistor.n, capacitor.p)\n",
+ " connect(capacitor.n, source.n)\n",
+ " connect(capacitor.n, ground.g)\n",
+ " ]\n",
+ "\n",
+ "@named _rc_model = ODESystem(rc_eqs, t)\n",
+ "@named rc_model = compose(_rc_model,\n",
+ " [resistor, capacitor, source, ground])"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/latex": [
+ "\\begin{align}\n",
+ "\\frac{dcapacitor_{+}v(t)}{dt} =& \\frac{\\mathrm{capacitor_{+}i}\\left( t \\right)}{capacitor_{+}C}\n",
+ "\\end{align}\n"
+ ],
+ "text/plain": [
+ "\u001b[0m\u001b[1mModel rc_model with 1 equations\u001b[22m\n",
+ "\u001b[0m\u001b[1mStates (1):\u001b[22m\n",
+ " capacitor₊v(t) [defaults to 1.0]\n",
+ "\u001b[0m\u001b[1mParameters (3):\u001b[22m\n",
+ " resistor₊R [defaults to 1.0]\n",
+ " capacitor₊C [defaults to 1.0]\n",
+ " source₊V [defaults to 1.0]\n",
+ "\u001b[35mIncidence matrix:\u001b[39msparse([1, 1], [1, 2], Num[×, ×], 1, 2)"
+ ]
+ },
+ "execution_count": 4,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "sys = structural_simplify(rc_model)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 5,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "1-element Vector{Pair{Num, Float64}}:\n",
+ " capacitor₊v(t) => 0.0"
+ ]
+ },
+ "execution_count": 5,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "u0 = [\n",
+ " capacitor.v => 0.0\n",
+ " ]"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 6,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "\u001b[36mODEProblem\u001b[0m with uType \u001b[36mVector{Float64}\u001b[0m and tType \u001b[36mFloat64\u001b[0m. In-place: \u001b[36mtrue\u001b[0m\n",
+ "timespan: (0.0, 10.0)\n",
+ "u0: 1-element Vector{Float64}:\n",
+ " 0.0"
+ ]
+ },
+ "execution_count": 6,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "prob = ODAEProblem(sys, u0, (0, 10.0))"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 7,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "retcode: Success\n",
+ "Interpolation: specialized 4th order \"free\" interpolation\n",
+ "t: 19-element Vector{Float64}:\n",
+ " 0.0\n",
+ " 9.999999999999999e-5\n",
+ " 0.0010999999999999998\n",
+ " 0.011099999999999997\n",
+ " 0.076742091466188\n",
+ " 0.2256219976613778\n",
+ " 0.4455760022489606\n",
+ " 0.7272505097568545\n",
+ " 1.0899643857570624\n",
+ " 1.5331652827982714\n",
+ " 2.06972399829104\n",
+ " 2.705750446504391\n",
+ " 3.4562444530999095\n",
+ " 4.3378403240538095\n",
+ " 5.377903566781988\n",
+ " 6.614654307931712\n",
+ " 8.1073506878944\n",
+ " 9.946895379599903\n",
+ " 10.0\n",
+ "u: 19-element Vector{Vector{Float64}}:\n",
+ " [0.0]\n",
+ " [9.999500016666247e-5]\n",
+ " [0.001099395221772342]\n",
+ " [0.011038622307372232]\n",
+ " [0.0738713206981718]\n",
+ " [0.20198030129465663]\n",
+ " [0.3595447255651815]\n",
+ " [0.5167641452122546]\n",
+ " [0.6637713825376194]\n",
+ " [0.7841482271226826]\n",
+ " [0.873778404447212]\n",
+ " [0.9331779821204202]\n",
+ " [0.9684489616227437]\n",
+ " [0.9869310637824636]\n",
+ " [0.9953772824474669]\n",
+ " [0.9986536797747498]\n",
+ " [0.9996930416967437]\n",
+ " [0.9999471971800106]\n",
+ " [0.9999499280997356]"
+ ]
+ },
+ "execution_count": 7,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "sol = solve(prob, Tsit5())"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 8,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
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+ ]
+ },
+ "execution_count": 8,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "plot(sol)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Julia 1.7.2",
+ "language": "julia",
+ "name": "julia-1.7"
+ },
+ "language_info": {
+ "file_extension": ".jl",
+ "mimetype": "application/julia",
+ "name": "julia",
+ "version": "1.7.2"
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"nbformat": 4,
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diff --git a/exploration_modia3D.ipynb b/exploration_modia3D.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..3c9ddf0db8b4e0cb5f452555cc9504d879bb0bbb
--- /dev/null
+++ b/exploration_modia3D.ipynb
@@ -0,0 +1,95 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "id": "d47c9765-5d14-4e9d-a42e-1623da8bf5ae",
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "\n",
+ "... Info: ENV[\"DLR_VISUALIZATION\"] is not defined.\n",
+ " Therefore, no online renderer is used in Modia3D.\n",
+ "\n"
+ ]
+ }
+ ],
+ "source": [
+ "using Modia3D"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "id": "964c5cea-1e33-4fa0-be73-68acff0fd5a2",
+ "metadata": {},
+ "outputs": [
+ {
+ "ename": "LoadError",
+ "evalue": "TypeError: in keyword argument parent, expected Union{Nothing, Object3D}, got a value of type Symbol",
+ "output_type": "error",
+ "traceback": [
+ "TypeError: in keyword argument parent, expected Union{Nothing, Object3D}, got a value of type Symbol",
+ "",
+ "Stacktrace:",
+ " [1] top-level scope",
+ " @ In[2]:1",
+ " [2] eval",
+ " @ ./boot.jl:373 [inlined]",
+ " [3] include_string(mapexpr::typeof(REPL.softscope), mod::Module, code::String, filename::String)",
+ " @ Base ./loading.jl:1196"
+ ]
+ }
+ ],
+ "source": [
+ "Pendulum = Model3D(\n",
+ " world = Object3D(feature=Scene()),\n",
+ " body = Object3D(feature=Solid(massProperties=MassProperties(mass=1.0))),\n",
+ " bodyFrame = Object3D(parent=:body, translation=[-0.5, 0.0, 0.0]),\n",
+ " rev = Revolute(obj1=:world, obj2=:bodyFrame)\n",
+ ")"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "6584c04b-be0e-49f4-a7ac-d4ad06c404a5",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "pendulum = @instantiateModel(Pendulum, unitless=true)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "976e8115-66fb-4bea-a5cf-59dfeffc7224",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "simulate!(pendulum, stopTime=3.0)\n",
+ "\n",
+ "@usingModiaPlot # use the plot package defined by ENV[\"MODIA_PLOT\"]\n",
+ "plot(pendulum, \"rev.phi\")"
+ ]
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Julia 1.7.2",
+ "language": "julia",
+ "name": "julia-1.7"
+ },
+ "language_info": {
+ "file_extension": ".jl",
+ "mimetype": "application/julia",
+ "name": "julia",
+ "version": "1.7.2"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/physical_specifications.ipynb b/physical_specifications.ipynb
index 7fec51502cbc3200b3d0ffc6bbba1fe85e197f3d..f2be5552f54da78555ab183477e679d484e756ed 100644
--- a/physical_specifications.ipynb
+++ b/physical_specifications.ipynb
@@ -1,6 +1,71 @@
{
- "cells": [],
- "metadata": {},
+ "cells": [
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Physical specification for the omnibot"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "The omnibot should consist of three major components:\n",
+ "* Chassi (traingle of plastic)\n",
+ "* 3 omni-wheels\n",
+ "* 3 servos that drive the wheels"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Wheel model"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Servo model"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Chassi model"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Everything combined"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Julia 1.7.2",
+ "language": "julia",
+ "name": "julia-1.7"
+ },
+ "language_info": {
+ "file_extension": ".jl",
+ "mimetype": "application/julia",
+ "name": "julia",
+ "version": "1.7.2"
+ }
+ },
"nbformat": 4,
"nbformat_minor": 4
}