AngleSensor

Measures the absolute rotational angle of a connected spline. This component models an ideal sensor that outputs the absolute angle of a spline. It directly reflects the phi variable of an associated spline object, which is assumed to be defined in the extended PartialAbsoluteSensor or through a connection. The relationship defining the sensor's output is:

$$ph{i}_{sensor}=spline.phi$$

There are no dynamics, delays, or inaccuracies modeled in this sensor; it provides a perfect, instantaneous reading of the spline's angle.

This component extends from PartialAbsoluteSensor

Usage

AngleSensor()

Connectors

• spline - (Spline)

• phi - This connector represents a real signal as an output from a component (RealOutput)

Behavior

$$\begin{array}{rl}0& =\mathtt{spline}\mathtt{.}\mathtt{tau}\left(t\right)\\ \mathtt{phi}\left(t\right)& =\mathtt{spline}\mathtt{.}\mathtt{phi}\left(t\right)\end{array}$$

Source

# Measures the absolute rotational angle of a connected spline.
# This component models an ideal sensor that outputs the absolute angle of a spline.
# It directly reflects the `phi` variable of an associated `spline` object, which is
# assumed to be defined in the extended `PartialAbsoluteSensor` or through a
# connection. The relationship defining the sensor's output is:
# ```math
# phi_{sensor} = spline.phi
# ```
# There are no dynamics, delays, or inaccuracies modeled in this sensor;
# it provides a perfect, instantaneous reading of the spline's angle.
component AngleSensor
  extends PartialAbsoluteSensor
  # Absolute angle of spline as output signal
  phi = RealOutput() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
relations
  phi = spline.phi
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/SingleSplineSensor.svg"}}
}
end

Flattened Source

# Measures the absolute rotational angle of a connected spline.
# This component models an ideal sensor that outputs the absolute angle of a spline.
# It directly reflects the `phi` variable of an associated `spline` object, which is
# assumed to be defined in the extended `PartialAbsoluteSensor` or through a
# connection. The relationship defining the sensor's output is:
# ```math
# phi_{sensor} = spline.phi
# ```
# There are no dynamics, delays, or inaccuracies modeled in this sensor;
# it provides a perfect, instantaneous reading of the spline's angle.
component AngleSensor
  # Spline of the shaft from which sensor information shall be measured
  spline = Spline() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  # Absolute angle of spline as output signal
  phi = RealOutput() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
relations
  0 = spline.tau
  phi = spline.phi
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/SingleSplineSensor.svg"}}
}
end

Test Cases

This is setup code, that must be run before each test case.

using RotationalComponents
using ModelingToolkit, OrdinaryDiffEqDefault
using Plots
using CSV, DataFrames

snapshotsdir = joinpath(dirname(dirname(pathof(RotationalComponents))), "test", "snapshots")

"/home/actions-runner-10/.julia/packages/RotationalComponents/0VPxm/test/snapshots"

Related

• Examples

• Experiments

• Analyses