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0000000..97cfdae --- /dev/null +++ b/ALt-Trajectories/trajectorycalc.py @@ -0,0 +1,87 @@ +import math +import json +import os +from pathlib import Path + +# constants +# Coord system = cartesian is Z=height, x=radial, y = tangential relative to hub, spherical is radial from robot to goal +m = 0.475 / 2.205 # lb -> kg [0.448 - 0.5] +ball_Diam = 5.91 * (1 / 12 / 3.281) # in -> m +ball_radius = ball_Diam / 2 +x_Area = 3.14159 * ball_radius**2 # cross sectional area +rho = 1.225 # kg/m^3 +xi = 0 # m +zi = 18 * (1 / 12 / 3.281) # in -> m +zf = 72 * (1 / 12 / 3.281) # in -> m +x_goal = 6.12 # m the max distance is 6.12m +Cd = 0.47 # drag coeff sphere in 10^4 - 10^5 reynolds num +g = -9.81 # m/s^2 +dt = 0.01 + + +def calc_distances() -> list[tuple[float, float, float]]: + result = [] + for ten_vi in range(60, 120, 1): + vi = ten_vi / 10.0 + for ten_theta in range(300, 900, 1): + theta_i = math.radians(ten_theta / 10.0) + theta = theta_i + target_z = zf - zi + has_hit_z_before = False + z = 0 + x = 0 + t = 0 + v = vi + v_x = math.cos(theta) * vi + v_z = math.sin(theta) * vi + prev_hit_z = False + + while not has_hit_z_before and not math.isclose(z, target_z, rel_tol=0.1): + is_close = math.isclose(z, target_z, rel_tol=0.1) + + if is_close: + prev_hit_z = True + + if prev_hit_z and not is_close: + has_hit_z_before = True + + effect_of_drag = (-Cd * rho * x_Area * v**2) / (2 * m) + accel_x = effect_of_drag * math.cos(theta) + accel_z = effect_of_drag * math.sin(theta) + + v_x += accel_x * dt + v_z += accel_z * dt + + x += v_x * dt + z += v_z * dt + t += dt + + v = math.sqrt(v_x**2 + v_z**2) + theta = math.atan(v_z / v_x) + result.append((x, math.degrees(theta_i), vi)) + + return result + + +def create_distance_map(): + distance_values = calc_distances() + + grouped = {} + for val in distance_values: + [d, theta, vi] = val + rounded_distance = round(d, 2) + if (rounded_distance, vi) not in grouped: + result = {} + result["distance"] = rounded_distance + result["theta"] = round(theta, 1) + result["velocity"] = vi + grouped[(rounded_distance, vi)] = result + + results = [val for val in grouped.values()] + return results + + +directory = Path(__file__).parent + +with open(os.path.join(directory, "trajectories.json"), "w") as file: + file.write(json.dumps(create_distance_map(), indent=2))