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refactor to use non-deprecated component iterator

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This commit is contained in:
thzero 2022-07-03 08:30:51 -05:00
parent a49117f909
commit 26019d48d3
1 changed files with 10 additions and 23 deletions
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33
core/src/net/sf/openrocket/simulation/listeners/example/RollControlListener.java
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@ -35,8 +35,7 @@ public class RollControlListener extends AbstractSimulationListener {
// Maximum control fin angle (rad) // Maximum control fin angle (rad)
private static final double MAX_ANGLE = 15 * Math.PI / 180; private static final double MAX_ANGLE = 15 * Math.PI / 180;
/* /*
* PID parameters * PID parameters
* *
@ -47,29 +46,22 @@ public class RollControlListener extends AbstractSimulationListener {
private static final double KP = 0.007; private static final double KP = 0.007;
private static final double KI = 0.2; private static final double KI = 0.2;
private double rollRate;
private double rollrate;
private double prevTime = 0; private double prevTime = 0;
private double intState = 0; private double intState = 0;
private double finPosition = 0; private double finPosition = 0;
@Override @Override
public FlightConditions postFlightConditions(SimulationStatus status, FlightConditions flightConditions) { public FlightConditions postFlightConditions(SimulationStatus status, FlightConditions flightConditions) {
// Store the current roll rate for later use // Store the current roll rate for later use
rollrate = flightConditions.getRollRate(); rollRate = flightConditions.getRollRate();
return null; return null;
} }
@Override @Override
public void postStep(SimulationStatus status) throws SimulationException { public void postStep(SimulationStatus status) throws SimulationException {
// Activate PID controller only after a specific time // Activate PID controller only after a specific time
if (status.getSimulationTime() < START_TIME) { if (status.getSimulationTime() < START_TIME) {
prevTime = status.getSimulationTime(); prevTime = status.getSimulationTime();
@ -78,7 +70,7 @@ public class RollControlListener extends AbstractSimulationListener {
// Find the fin set named CONTROL // Find the fin set named CONTROL
FinSet finset = null; FinSet finset = null;
for (RocketComponent c : status.getConfiguration().getActiveComponents()) { for (RocketComponent c : status.getConfiguration().getAllComponents()) {
if ((c instanceof FinSet) && (c.getName().equals(CONTROL_FIN_NAME))) { if ((c instanceof FinSet) && (c.getName().equals(CONTROL_FIN_NAME))) {
finset = (FinSet) c; finset = (FinSet) c;
break; break;
@ -87,23 +79,20 @@ public class RollControlListener extends AbstractSimulationListener {
if (finset == null) { if (finset == null) {
throw new SimulationException("A fin set with name '" + CONTROL_FIN_NAME + "' was not found"); throw new SimulationException("A fin set with name '" + CONTROL_FIN_NAME + "' was not found");
} }
// Determine time step // Determine time step
double deltaT = status.getSimulationTime() - prevTime; double deltaT = status.getSimulationTime() - prevTime;
prevTime = status.getSimulationTime(); prevTime = status.getSimulationTime();
// PID controller // PID controller
double error = SETPOINT - rollrate; double error = SETPOINT - rollRate;
double p = KP * error; double p = KP * error;
intState += error * deltaT; intState += error * deltaT;
double i = KI * intState; double i = KI * intState;
double value = p + i; double value = p + i;
// Clamp the fin angle between -MAX_ANGLE and MAX_ANGLE // Clamp the fin angle between -MAX_ANGLE and MAX_ANGLE
if (Math.abs(value) > MAX_ANGLE) { if (Math.abs(value) > MAX_ANGLE) {
System.err.printf("Attempting to set angle %.1f at t=%.3f, clamping.\n", System.err.printf("Attempting to set angle %.1f at t=%.3f, clamping.\n",
@ -111,7 +100,6 @@ public class RollControlListener extends AbstractSimulationListener {
value = MathUtil.clamp(value, -MAX_ANGLE, MAX_ANGLE); value = MathUtil.clamp(value, -MAX_ANGLE, MAX_ANGLE);
} }
// Limit the fin turn rate // Limit the fin turn rate
if (finPosition < value) { if (finPosition < value) {
finPosition = Math.min(finPosition + TURNRATE * deltaT, value); finPosition = Math.min(finPosition + TURNRATE * deltaT, value);
@ -122,6 +110,5 @@ public class RollControlListener extends AbstractSimulationListener {
// Set the control fin cant and store the data // Set the control fin cant and store the data
finset.setCantAngle(finPosition); finset.setCantAngle(finPosition);
status.getFlightData().setValue(FIN_CANT_TYPE, finPosition); status.getFlightData().setValue(FIN_CANT_TYPE, finPosition);
} }
} }