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Commits (6)
......@@ -2,27 +2,27 @@ actuators:
actuation_ratio: [0.02, 0.02, 0.02, 0.02, 0, 0, 0, 0]
channels:
mass_observer_deflationpath:
coefficient_Pout: [-0.0018952313732572557, -0.0013065147598870092, -0.002005497394772071,
-0.00127305158336663, -0.0007949107500658109, -0.0015106943615953994, 0, 0]
coefficient_Pout: [-0.0006169040198587272, -0.00028157905445314046, -0.0015771327447718642,
0.0008268776272030848, 0.0004237685215680437, -0.0002820488829260587, 0, 0]
coefficient_Psupply: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0]
coefficient_bias: [0.12291859938854799, 0.03224226148012477, -0.04727428985667359,
-0.04408067556587092, 0.0720016655175133, 0.087087313382602, 0, 0]
coefficient_friction: [-0.005454912298199499, -0.010292502755131994, -0.009015755171917939,
-0.1403613394541166, 0.06335332970428664, -0.0016698314393945868, 0, 0]
coefficient_injector: [-0.7148075717800018, -0.7131459550226052, -0.7264779227293654,
-0.6104593185077293, -0.7808723286572182, -0.7388769027135307, 0, 0]
coefficient_bias: [-0.11120534021455697, -0.1357310054957015, -0.11044293057565291,
-0.5420193593464102, -0.18587609509695824, -0.12535464948721398, 0, 0]
coefficient_friction: [-0.01595072039656681, -0.003804001334643592, -0.0015723651869846145,
-0.14902047229860718, 0.042070722636863345, -0.01416170045956533, 0, 0]
coefficient_injector: [-0.7238693016044564, -0.7709339962914764, -0.7577105525063841,
-0.6278363024590629, -0.7674263663497433, -0.7013424604160725, 0, 0]
minimal_mass_change: [-1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5]
mass_observer_inflationpath:
coefficient_Pout: [0.0021493679515148354, 0.0021421807989086255, 0.0018321990403523517,
0.0011164844109019158, 0.002795126346036559, 0.002864012319160913, 0, 0]
coefficient_Psupply: [-0.014954571607847786, -0.014114689395215613, -0.0162221075269239,
-0.016813419659614283, -0.02387941679365276, -0.02036356971632857, 0, 0]
coefficient_bias: [5.818289915685726, 5.439662933710819, 6.887632247305088, 7.0358808726513145,
9.793092734584363, 7.759724176822725, 0, 0]
coefficient_friction: [0.5062497671076527, 0.4945438926176113, 0.5458156411612163,
0.522483900578272, 0.6260997295097943, 0.568258707467364, 0, 0]
coefficient_injector: [0.4959702170112427, 0.4955594780307857, 0.4929093764959804,
0.4820686338665038, 0.48241086489796114, 0.4978336406038174, 0, 0]
coefficient_Pout: [0.001689549483697237, 0.002184932848268331, 0.000967730542280814,
0.0013078918523850673, 0.001777318072878474, 0.0014111323884963521, 0, 0]
coefficient_Psupply: [-0.0027633320921479788, -0.004279088082283257, -0.0025783069645059853,
-0.003037882399966764, -0.005324566492439063, -0.0028299053926375485, 0, 0]
coefficient_bias: [0.9690655557376768, 1.4221448606015663, 1.5601325772903927,
1.3960688110535173, 2.4017548560346427, 1.0442293231683717, 0, 0]
coefficient_friction: [0.5270162945241414, 0.5908628292842072, 0.5695647650868509,
0.5698938778946498, 0.5990346683809973, 0.5124605629205481, 0, 0]
coefficient_injector: [0.4965720177159469, 0.5039394676264596, 0.5018265855450847,
0.4799814452729062, 0.48614261827733435, 0.4847876837540435, 0, 0]
minimal_mass_change: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5]
nominal_volume: []
os: {hostname: beagleX.local}
......
......@@ -13,23 +13,22 @@ import time
channels = 6
delay = 0.5
inflation = 0.8
inflation = 2.0
deflation = 2.5
airserver = utils.connectToDefaultPneumaticbox()
msgs = []
now = api.now()
pressures_before = [None] * channels
pressures_after = [None] * channels
waiting_period = 20.0;
tolerance = 1.0;
accepted = input("Inflation Period: " + inflation + " seconds. Please ensure vessel attached can withstand supply pressure" +
"then press y to start")
print("Inflation Period: {} seconds. Please ensure vessel attached can withstand supply pressure then press y to start".format(inflation))
accepted = raw_input()
if accepted == "y" or accepted == "Y":
print("Pressurizing all channels")
now = api.now()
for i in range(channels):
airserver.submit( api.MsgConfigurationControllerThreshold(i) )
airserver.submit( api.MsgControllerActivate(i) )
......@@ -55,6 +54,8 @@ if accepted == "y" or accepted == "Y":
for i in range(channels):
SIGNAL_POUT = api.SIGNALS_CHANNEL[i][2]
pressures_after[i] = airserver.serversignals[SIGNAL_POUT][1][0]
print("Before: " + str(pressures_before[i]))
print("After: " + str(pressures_after[i]))
if (pressures_before[i] > pressures_after[i] + tolerance or pressures_before[i] < pressures_after[i] - tolerance):
leakages = True
print("Leakage observered on channel " + str(i) + ": " + str(pressures_before[i]) + " -> " + str(pressures_after[i]))
......