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phi_rel$(instance)RelativeAngleSensor Icon

RelativeAngleSensor

Ideal sensor to measure the relative angle between two splines

This component extends from PartialRelativeSensor

Usage

RelativeAngleSensor()

Connectors

  • spline_a - (Spline)
  • spline_b - (Spline)
  • phi_rel - This connector represents a real signal as an output from a component (RealOutput)

Behavior

\[ \begin{align} 0 &= \mathtt{spline\_b.tau}\left( t \right) + \mathtt{spline\_a.tau}\left( t \right) \\ \mathtt{phi\_rel}\left( t \right) &= \mathtt{spline\_b.phi}\left( t \right) - \mathtt{spline\_a.phi}\left( t \right) \\ 0 &= \mathtt{spline\_a.tau}\left( t \right) \end{align} \]

Source

# Ideal sensor to measure the relative angle between two splines
component RelativeAngleSensor
  extends PartialRelativeSensor
  # Relative angle between two splines as output signal
  phi_rel = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
    }
  }]
relations
  phi_rel = spline_b.phi-spline_a.phi
  0 = spline_a.tau
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/RelSensor-Angle-Vel-Acc.svg"}
  }
}
end
Flattened Source
# Ideal sensor to measure the relative angle between two splines
component RelativeAngleSensor
  # Left spline of shaft
  spline_a = Spline() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  # Right spline of shaft
  spline_b = Spline() [{"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}]
  # Relative angle between two splines as output signal
  phi_rel = RealOutput() [{
    "Dyad": {
      "placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
    }
  }]
relations
  0 = spline_a.tau+spline_b.tau
  phi_rel = spline_b.phi-spline_a.phi
  0 = spline_a.tau
metadata {
  "Dyad": {
    "icons": {"default": "dyad://RotationalComponents/RelSensor-Angle-Vel-Acc.svg"}
  }
}
end

Test Cases

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