driving_physics 0.0.2.1 → 0.0.3.1

data/test/vector_force.rb

@@ -1,52 +1,91 @@
 require 'minitest/autorun'
 require 'driving_physics/vector_force'
 
-include DrivingPhysics
+describe DrivingPhysics do
+  describe "random_centered_zero" do
+    it "generates uniformly random numbers centered on zero" do
+      hsh = {}
+      110_000.times {
+        num = DrivingPhysics.random_centered_zero(5)
+        hsh[num] ||= 0
+        hsh[num] += 1
+      }
+      # note, this will fail occasionally due to chance
+      hsh.values.each { |count|
+        expect(count).must_be(:>=, 9000)
+        expect(count).must_be(:<=, 11000)
+      }
+    end
 
-describe VectorForce do
-  before do
-    @drive_force = Vector[7000.0, 0.0]
-    @v = Vector[3.0, 0]
-    @mass = 1000
-    @weight = @mass * G
+    it "coerces magnitude=0 to magnitude=1" do
+      a = Array.new(999) { DrivingPhysics.random_centered_zero(0) }
+      expect(a.all? { |i| i == 0 }).must_equal false
+    end
   end
 
-  it "generates uniformly random numbers centered on zero" do
-    hsh = {}
-    110_000.times {
-      num = DrivingPhysics.random_centered_zero(5)
-      hsh[num] ||= 0
-      hsh[num] += 1
-    }
-    # note, this will fail occasionally due to chance
-    hsh.values.each { |count|
-      expect(count).must_be(:>=, 9000)
-      expect(count).must_be(:<=, 11000)
-    }
+  describe "random_unit_vector" do
+    it "generates a random unit vector" do
+      low_res = DrivingPhysics.random_unit_vector(2, resolution: 1)
+      if low_res[0] == 0.0
+        expect(low_res[1].abs).must_equal 1.0
+      elsif low_res[0].abs == 1.0
+        expect(low_res[1]).must_equal 0.0
+      elsif low_res[0].abs.round(3) == 0.707
+        expect(low_res[1].abs.round(3)) == 0.707
+      else
+        p low_res
+        raise "unexpected"
+      end
+
+      9.times {
+        high_res = DrivingPhysics.random_unit_vector(3, resolution: 9)
+        expect(high_res.magnitude).must_be_within_epsilon 1.0
+      }
+    end
   end
 
-  it "coerces magnitude=0 to magnitude=1" do
-    a = Array.new(999) { DrivingPhysics.random_centered_zero(0) }
-    expect(a.all? { |i| i == 0 }).must_equal false
+  describe "torque_vector" do
+    it "calculates a torque in the 3rd dimension given 2D force and radius" do
+      force = Vector[1000, 0]
+      radius = Vector[0, 5]
+      torque = DrivingPhysics.torque_vector(force, radius)
+      expect(torque).must_be_instance_of Vector
+      expect(torque.size).must_equal 3
+      expect(torque[2]).must_be_within_epsilon 5000.0
+    end
   end
 
-  it "generates a random unit vector" do
-    low_res = DrivingPhysics.random_unit_vector(2, resolution: 1)
-    if low_res[0] == 0.0
-      expect(low_res[1].abs).must_equal 1.0
-    elsif low_res[0].abs == 1.0
-      expect(low_res[1]).must_equal 0.0
-    elsif low_res[0].abs.round(3) == 0.707
-      expect(low_res[1].abs.round(3)) == 0.707
-    else
-      p low_res
-      raise "unexpected"
+  describe "force_vector" do
+    it "calculates a (3D) force given 3D torque and 2D radius" do
+      # let's invert the DrivingPhysics.torque_vector case from above:
+      torque = Vector[0, 0, 5000]
+      radius = Vector[0, 5]
+      force = DrivingPhysics.force_vector(torque, radius)
+      expect(force).must_be_instance_of Vector
+      expect(force.size).must_equal 3
+      expect(force[0]).must_be_within_epsilon 1000.0
+
+      # now let's rotate the radius into the x-dimension
+      # right hand rule, positive torque means thumb into screen, clockwise
+      # negative-x radius means positive-y force
+      torque = Vector[0, 0, 500]
+      radius = Vector[-5, 0]
+      force = DrivingPhysics.force_vector(torque, radius)
+      expect(force).must_be_instance_of Vector
+      expect(force.size).must_equal 3
+      expect(force[1]).must_be_within_epsilon 100.0
     end
+  end
+end
 
-    9.times {
-      high_res = DrivingPhysics.random_unit_vector(3, resolution: 9)
-      expect(high_res.magnitude).must_be_within_epsilon 1.0
-    }
+include DrivingPhysics
+
+describe VectorForce do
+  before do
+    @drive_force = Vector[7000.0, 0.0]
+    @v = Vector[3.0, 0]
+    @mass = 1000
+    @weight = @mass * G
   end
 
   it "calculates air resistance as the square of velocity" do

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: driving_physics
 version: !ruby/object:Gem::Version
-  version: 0.0.2.1
+  version: 0.0.3.1
 platform: ruby
 authors:
 - Rick Hull
@@ -9,7 +9,21 @@ autorequire:
 bindir: bin
 cert_chain: []
 date: 1980-01-01 00:00:00.000000000 Z
-dependencies: []
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: device_control
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.3'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.3'
 description: WIP
 email:
 executables: []
@@ -23,8 +37,9 @@ files:
 - demo/disk.rb
 - demo/gearbox.rb
 - demo/motor.rb
-- demo/mruby/disk.rb
+- demo/mruby/car.rb
 - demo/mruby/motor.rb
+- demo/pid_controller.rb
 - demo/powertrain.rb
 - demo/scalar_force.rb
 - demo/tire.rb
@@ -33,19 +48,25 @@ files:
 - lib/driving_physics.rb
 - lib/driving_physics/car.rb
 - lib/driving_physics/cli.rb
+- lib/driving_physics/cockpit.rb
 - lib/driving_physics/disk.rb
 - lib/driving_physics/environment.rb
 - lib/driving_physics/gearbox.rb
 - lib/driving_physics/imperial.rb
 - lib/driving_physics/motor.rb
 - lib/driving_physics/mruby.rb
+- lib/driving_physics/pid_controller.rb
 - lib/driving_physics/power.rb
 - lib/driving_physics/powertrain.rb
 - lib/driving_physics/scalar_force.rb
+- lib/driving_physics/timer.rb
 - lib/driving_physics/tire.rb
 - lib/driving_physics/vector_force.rb
 - test/disk.rb
 - test/driving_physics.rb
+- test/gearbox.rb
+- test/motor.rb
+- test/powertrain.rb
 - test/scalar_force.rb
 - test/tire.rb
 - test/vector_force.rb
@@ -68,8 +89,8 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubygems_version: 3.2.26
+rubygems_version: 3.4.4
 signing_key:
 specification_version: 4
-summary: WIP
+summary: 'Physics from first principles: mass, friction, rotation, etc'
 test_files: []

data/demo/mruby/disk.rb

@@ -1,81 +0,0 @@
-
-include DrivingPhysics
-
-env = Environment.new
-disk = Disk.new(env)
-
-puts env
-puts disk
-puts
-
-axle_torque = 50
-alpha = disk.alpha(axle_torque)
-drive_force = disk.force(axle_torque)
-
-puts [format("Axle torque: %.1f Nm", axle_torque),
-      format("      Alpha: %.1f rad/s/s", alpha),
-      format("Drive force: %.1f N", drive_force),
-     ].join("\n")
-puts
-
-puts "* Spin up the disk with #{axle_torque} Nm of torque"
-puts "* Cut the power at some point"
-puts "* Observe"
-CLI.pause
-
-duration = 750 # sec
-
-dist = 0.0  # meters
-speed = 0.0 # meters/s
-
-theta = 0.0 # radians
-omega = 0.0 # radians/s
-
-paused = 0.0 # seconds
-num_ticks = duration * env.hz + 1
-flag = false # to display current stats
-start = Timer.now
-
-num_ticks.times { |i|
-  # shut off the powah!
-  if i == 18_950
-    flag = true
-    puts '#'
-    puts '# CUT POWER'
-    puts '#'
-    puts
-    axle_torque = 0
-  end
-
-  rotating_friction = disk.rotating_friction(omega)
-  net_torque = axle_torque + rotating_friction
-  net_force = disk.force(net_torque)
-
-  # rotational kinematics
-  alpha = disk.alpha(net_torque)
-  omega += alpha * env.tick
-  omega = 0.0 if omega.abs < 0.0001
-  theta += omega * env.tick
-
-  if flag or i < 10 or
-    (i < 20_000 and i%1000 == 0) or
-    (i % 10_000 == 0) or
-    i == duration * env.hz - 1
-
-    puts Timer.display(ms: i)
-    puts format(" Torque: %.1f Nm (%d Nm)  Friction: %.1f Nm",
-                net_torque, axle_torque, rotating_friction)
-    puts format("Radians: %.1f r  %.2f r/s  %.3f r/s^2", theta, omega, alpha)
-    puts format("   Revs: %d revs  %d revs/s  %d rpm",
-                DrivingPhysics.revs(theta),
-                DrivingPhysics.revs(omega),
-                DrivingPhysics.rpm(omega))
-    puts
-    if flag
-      paused += CLI.pause
-      flag = false
-    end
-  end
-}
-
-puts Timer.summary(start, num_ticks, paused)