CW-DoublePendulum 0.1.0__py3-none-any.whl → 0.2.1__py3-none-any.whl

{cw_doublependulum-0.1.0.dist-info → cw_doublependulum-0.2.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: CW-DoublePendulum
-Version: 0.1.0
+Version: 0.2.1
 Summary: A Python package that uses NumPy and Matplotlib to simulate an interactive double pendulum.
 Author-email: Chase Worsley <your_email@example.com>
 License: MIT

cw_doublependulum-0.2.1.dist-info/RECORD

@@ -0,0 +1,7 @@
+sim.py,sha256=S_DkT3_6DFTJixb3mcXJGUsSq_cPcjUntcAcd4aoVfE,14399
+cw_doublependulum-0.2.1.dist-info/licenses/LICENSE,sha256=P_M8rIY4EFOQArRFqXCsxqdZyDp2kUCszxsaDapqA_4,1090
+cw_doublependulum-0.2.1.dist-info/METADATA,sha256=lVVZNGXuEvAsin14PcUMfzBicWremJ5_Ps_-0IllRNY,719
+cw_doublependulum-0.2.1.dist-info/WHEEL,sha256=0CuiUZ_p9E4cD6NyLD6UG80LBXYyiSYZOKDm5lp32xk,91
+cw_doublependulum-0.2.1.dist-info/entry_points.txt,sha256=bl8GVAAafizZ1OprX6HOmfdP0pcJRYjsAEeKdxMTCiw,65
+cw_doublependulum-0.2.1.dist-info/top_level.txt,sha256=lf-JWfiGnB0ZZ1Sd9fz8Zh9R5MCupexpcxpg21zinzs,4
+cw_doublependulum-0.2.1.dist-info/RECORD,,

cw_doublependulum-0.2.1.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+CWDoublePendulum = CWDoublePendulum.sim:runSim

cw_doublependulum-0.2.1.dist-info/top_level.txt

@@ -0,0 +1 @@
+sim

sim.py

@@ -0,0 +1,386 @@
+def runSim():
+    import numpy as np
+    import matplotlib
+    matplotlib.use('TkAgg')
+    import matplotlib.pyplot as plt
+    from matplotlib.widgets import Slider, CheckButtons, Button
+    from matplotlib.animation import FuncAnimation
+    from matplotlib.collections import LineCollection
+    import time
+    import csv
+    import hashlib
+
+    # Initial parameters (all can be modified with sliders)
+    l1 = 1.0
+    l2 = 1.0
+    m1 = 1.0
+    m2 = 1.0
+    g = 9.81
+    dt = 0.02
+
+    # Initial conditions: [theta1, omega1, theta2, omega2]
+    state = np.array([np.pi / 2, 0, np.pi / 2, 0], dtype=float)
+
+    # Control flags
+    animationRunning = True
+    collectingData = False
+
+    collectedData = []
+
+    def derivs(state, l1, l2, m1, m2):
+        theta1, omega1, theta2, omega2 = state
+        delta = theta2 - theta1
+
+        denom1 = (m1 + m2) * l1 - m2 * l1 * np.cos(delta)**2
+        denom2 = (l2 / l1) * denom1
+
+        domega1 = (m2 * l1 * omega1**2 * np.sin(delta) * np.cos(delta) +
+            m2 * g * np.sin(theta2) * np.cos(delta) +
+            m2 * l2 * omega2**2 * np.sin(delta) -
+            (m1 + m2) * g * np.sin(theta1)) / denom1
+
+        domega2 = (-m2 * l2 * omega2**2 * np.sin(delta) * np.cos(delta) +
+            (m1 + m2) * g * np.sin(theta1) * np.cos(delta) -
+            (m1 + m2) * l1 * omega1**2 * np.sin(delta) -
+            (m1 + m2) * g * np.sin(theta2)) / denom2
+
+        return np.array([omega1, domega1, omega2, domega2])
+
+    def step():
+        global state
+        # 4th-order Runge-Kutta integrator for ODE
+        k1 = derivs(state, l1, l2, m1, m2)
+        k2 = derivs(state + 0.5 * dt * k1, l1, l2, m1, m2)
+        k3 = derivs(state + 0.5 * dt * k2, l1, l2, m1, m2)
+        k4 = derivs(state + dt * k3, l1, l2, m1, m2)
+        state += (dt / 6) * (k1 + 2 * k2 + 2 * k3 + k4)
+
+    def getPos():
+        # Returns full positional (and angle/omega) state, to minimize repeated code
+        theta1, omega1, theta2, omega2 = state
+        x1 = l1 * np.sin(theta1)
+        y1 = -l1 * np.cos(theta1)
+        x2 = x1 + l2 * np.sin(theta2)
+        y2 = y1 - l2 * np.cos(theta2)
+        return x1, y1, x2, y2, theta1, omega1, theta2, omega2
+
+    def updatePlotLimits():
+        # Calculate the range based on the diagonal extent of both pendulums
+        # Add 20% margin
+        maxRange = (l1 + l2) * 1.2
+        ax.set_xlim(-maxRange, maxRange)
+        ax.set_ylim(-maxRange, maxRange)
+        fig.canvas.draw_idle()
+
+    # Function to convert mass to marker size
+    def massToSize(mass):
+        return 3 + 5 * (mass ** 0.7)
+
+    # Make large figure for buttons and whatnot
+    fig = plt.figure(figsize=(12, 8))
+    # Adjust the main plot area to make room for UI elements
+    plt.subplots_adjust(left=0.2, right=0.8, bottom=0.2)
+    ax = plt.subplot(111)
+    ax.set_aspect('equal')
+    updatePlotLimits()
+    ax.plot(0, 0, 'ko')  # Center point/pivot
+    ax.set_title('Double Pendulum Simulation')
+
+    # Pendulum components
+    line, = ax.plot([], [], '-', lw=2, color='black')
+    mass1, = ax.plot([], [], 'bo', markersize=massToSize(m1))
+    mass2, = ax.plot([], [], 'ro', markersize=massToSize(m2))
+
+    # Trail lines
+    trailLength = 100
+    trailSegments1 = []
+    trailSegments2 = []
+    trailCmap1 = plt.get_cmap('winter')  # these don't really have any gradient for some reason, idc anymore
+    trailCmap2 = plt.get_cmap('autumn')
+    trail1 = ax.add_collection(LineCollection([], linewidths=2, cmap=trailCmap1, alpha=0.6))
+    trail2 = ax.add_collection(LineCollection([], linewidths=2, cmap=trailCmap2, alpha=0.6))
+
+    # Trace flags
+    showTrace1 = True
+    showTrace2 = True
+
+    def init():
+        # Clear pendulum lines and trails
+        line.set_data([], [])
+        mass1.set_data([], [])
+        mass2.set_data([], [])
+        trail1.set_segments([])
+        trail2.set_segments([])
+        return line, mass1, mass2, trail1, trail2
+
+    def update(frame):
+        global collectedData
+
+        if animationRunning:
+            step()
+
+        x1, y1, x2, y2, theta1, omega1, theta2, omega2 = getPos()
+
+        # Collect data and setup keys
+        if collectingData:
+            timestamp = time.time()
+            collectedData.append({
+                'time': timestamp,
+                'theta1': theta1,
+                'omega1': omega1,
+                'theta2': theta2,
+                'omega2': omega2,
+                'x1': x1,
+                'y1': y1,
+                'x2': x2,
+                'y2': y2,
+                'l1': l1,
+                'l2': l2,
+                'm1': m1,
+                'm2': m2,
+                'g': g,
+                'dt': dt
+            })
+
+        # Update pendulum position
+        line.set_data([0, x1, x2], [0, y1, y2])
+        mass1.set_data([x1], [y1])
+        mass2.set_data([x2], [y2])
+
+        # Update trail if animation is running
+        if animationRunning:
+            if len(trailSegments1) > 0:
+                prevX1, prevY1 = trailSegments1[-1][-1]
+                prevX2, prevY2 = trailSegments2[-1][-1]
+                trailSegments1.append([[prevX1, prevY1], [x1, y1]])
+                trailSegments2.append([[prevX2, prevY2], [x2, y2]])
+            else:
+                trailSegments1.append([[x1, y1], [x1, y1]])
+                trailSegments2.append([[x2, y2], [x2, y2]])
+
+            # Limit trail length
+            if len(trailSegments1) > trailLength:
+                trailSegments1.pop(0)
+                trailSegments2.pop(0)
+
+        # Update trail if enabled
+        if showTrace1 and len(trailSegments1) > 0:
+            n = len(trailSegments1)
+            alphas = np.linspace(0.0, 1.0, n)
+            trail1.set_segments(trailSegments1)
+            trail1.set_array(alphas)
+        else:
+            trail1.set_segments([])
+
+        if showTrace2 and len(trailSegments2) > 0:
+            n = len(trailSegments2)
+            alphas = np.linspace(0.0, 1.0, n)
+            trail2.set_segments(trailSegments2)
+            trail2.set_array(alphas)
+        else:
+            trail2.set_segments([])
+
+        return line, mass1, mass2, trail1, trail2
+
+    ani = FuncAnimation(fig, update, init_func=init, blit=True, interval=20)
+
+    # -------------------- LAYOUT ARRANGEMENT --------------------
+    axcolor = 'lightgoldenrodyellow'
+
+    # ---- SLIDERS (RIGHT SIDE) ----
+    sliderWidth = 0.15
+    sliderHeight = 0.03
+    sliderLeft = 0.82
+    sliderGap = 0.05
+
+    # Create slider axes on the right side
+    axM1 = plt.axes([sliderLeft, 0.7, sliderWidth, sliderHeight], facecolor=axcolor)
+    axM2 = plt.axes([sliderLeft, 0.7 - sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
+    axL1 = plt.axes([sliderLeft, 0.7 - 2*sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
+    axL2 = plt.axes([sliderLeft, 0.7 - 3*sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
+    axG  = plt.axes([sliderLeft, 0.7 - 4*sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
+    axDt = plt.axes([sliderLeft, 0.7 - 5*sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
+
+    # Create sliders
+    sliderM1 = Slider(axM1, 'Mass 1', 0.1, 5.0, valinit=m1)
+    sliderM2 = Slider(axM2, 'Mass 2', 0.1, 5.0, valinit=m2)
+    sliderL1 = Slider(axL1, 'Length 1', 0.1, 2.0, valinit=l1)
+    sliderL2 = Slider(axL2, 'Length 2', 0.1, 2.0, valinit=l2)
+    sliderG  = Slider(axG, 'Gravity', 0.1, 20.0, valinit=g)
+    sliderDt = Slider(axDt, 'Time Step', 0.005, 0.05, valinit=dt)
+
+    # ---- BUTTONS (LEFT SIDE) ----
+    buttonWidth = 0.15
+    buttonHeight = 0.05
+    buttonLeft = 0.02
+    buttonGap = 0.06
+
+    # Add checkbox buttons for trails
+    rax = plt.axes([buttonLeft, 0.7, buttonWidth, 0.1], facecolor=axcolor)
+    check = CheckButtons(rax, ['Trail 1', 'Trail 2'], [showTrace1, showTrace2])
+
+    # Add buttons
+    resetAx = plt.axes([buttonLeft, 0.6, buttonWidth, buttonHeight], facecolor=axcolor)
+    pauseAx = plt.axes([buttonLeft, 0.6 - buttonGap, buttonWidth, buttonHeight], facecolor=axcolor)
+    collectAx = plt.axes([buttonLeft, 0.6 - 2*buttonGap, buttonWidth, buttonHeight], facecolor=axcolor)
+    testAx = plt.axes([buttonLeft, 0.6 - 3*buttonGap, buttonWidth, buttonHeight], facecolor=axcolor)
+
+    resetButton = Button(resetAx, 'Reset', color=axcolor)
+    pauseButton = Button(pauseAx, 'Pause', color=axcolor)
+    collectButton = Button(collectAx, 'Collect Data', color=axcolor)
+    testButton = Button(testAx, 'Verify/test Simulation', color=axcolor)
+
+    # -------------------- CALLBACKS -------------------- be careful >:(
+    def updateSliders(val):
+        global m1, m2, l1, l2, g, dt
+        if not collectingData:  # Only allow changes when not collecting data
+            m1 = sliderM1.val
+            m2 = sliderM2.val
+            l1 = sliderL1.val
+            l2 = sliderL2.val
+            g = sliderG.val
+            dt = sliderDt.val
+            # Update mass marker sizes based on new mass values
+            mass1.set_markersize(massToSize(m1))
+            mass2.set_markersize(massToSize(m2))
+            updatePlotLimits()
+            # Clear trails when parameters change
+            trailSegments1.clear()
+            trailSegments2.clear()
+            trail1.set_segments([])
+            trail2.set_segments([])
+
+    sliderM1.on_changed(updateSliders)
+    sliderM2.on_changed(updateSliders)
+    sliderL1.on_changed(updateSliders)
+    sliderL2.on_changed(updateSliders)
+    sliderG.on_changed(updateSliders)
+    sliderDt.on_changed(updateSliders)
+
+    def toggleTrace(label):
+        global showTrace1, showTrace2
+        if label == 'Trail 1':
+            showTrace1 = not showTrace1
+            if not showTrace1:
+                trail1.set_segments([])
+        elif label == 'Trail 2':
+            showTrace2 = not showTrace2
+            if not showTrace2:
+                trail2.set_segments([])
+
+    check.on_clicked(toggleTrace)
+
+    def reset(event):
+        global state, trailSegments1, trailSegments2
+        if not collectingData:  # Only reset when not collecting data dummy
+            state = np.array([np.pi / 2, 0, np.pi / 2, 0], dtype=float)
+            trailSegments1.clear()
+            trailSegments2.clear()
+            trail1.set_segments([])
+            trail2.set_segments([])
+
+    resetButton.on_clicked(reset)
+
+    def toggleAnimation(event):
+        global animationRunning
+        animationRunning = not animationRunning
+        pauseButton.label.set_text('Play' if not animationRunning else 'Pause')
+
+    pauseButton.on_clicked(toggleAnimation)
+
+    def toggleDataCollection(event):
+        global collectingData, collectedData
+
+        collectingData = not collectingData
+
+        if collectingData:
+            collectButton.label.set_text('Stop Collecting')
+            collectedData = []  # Clear previous data
+            # Disable sliders to ensure good data | might change and allow different stuff, but i see weird behavior idk
+            sliderM1.active = False
+            sliderM2.active = False
+            sliderL1.active = False
+            sliderL2.active = False
+            sliderG.active = False
+            sliderDt.active = False
+            # Change slider colors to show they have been imprisoned, how sad it doesn't work
+            axM1.set_facecolor('red')
+            axM2.set_facecolor('red')
+            axL1.set_facecolor('red')
+            axL2.set_facecolor('red')
+            axG.set_facecolor('red')
+            axDt.set_facecolor('red')
+        else:
+            # Save data
+            collectButton.label.set_text('Collect Data')
+            # Reenable
+            sliderM1.active = True
+            sliderM2.active = True
+            sliderL1.active = True
+            sliderL2.active = True
+            sliderG.active = True
+            sliderDt.active = True
+            # Restore da colors
+            axM1.set_facecolor(axcolor)
+            axM2.set_facecolor(axcolor)
+            axL1.set_facecolor(axcolor)
+            axL2.set_facecolor(axcolor)
+            axG.set_facecolor(axcolor)
+            axDt.set_facecolor(axcolor)
+            # Save data to file
+            if collectedData:
+                filename = f"doublePendulumData{time.time()}.csv"
+                saveDataToFile(filename)
+                plt.figtext(0.5, 0.01, f"Data saved to {filename}", ha="center", bbox={"facecolor":"green", "alpha":0.5, "pad":5})
+                fig.canvas.draw_idle()
+
+    collectButton.on_clicked(toggleDataCollection)
+
+    def saveDataToFile(filename):
+        with open(filename, 'w', newline='') as csvfile:
+            fieldnames = ['time', 'theta1', 'omega1', 'theta2', 'omega2', 'x1', 'y1', 'x2', 'y2', 'l1', 'l2', 'm1', 'm2', 'g', 'dt']
+            writer = csv.DictWriter(csvfile, fieldnames=fieldnames)
+            writer.writeheader()
+            for dataPoint in collectedData:
+                writer.writerow(dataPoint)
+
+    # Super duper text box that tells you super duper controls idk what im saying anymore
+    infoText = """Controls:
+    - Use sliders to adjust parameters
+    - Toggle trails with checkboxes
+    - Pause/Play the simulation
+    - Reset to initial state
+    - Collect data for analysis
+    - Test your program. Reset after testing!
+    """
+
+    # Make da box
+    fig.text(0.02, 0.2, infoText, fontsize=9, bbox=dict(facecolor=axcolor, alpha=0.5))
+
+    def runVerification(event):
+        # Set fixed values
+        global l1, l2, m1, m2, g, dt, state
+        l1, l2 = 1.0, 1.0
+        m1, m2 = 1.0, 1.0
+        g = 9.81
+        dt = 0.02
+        state = np.array([np.pi / 2, 0, np.pi / 2, 0], dtype=float)
+
+        steps = 1000
+        for _ in range(steps):
+            step()
+        
+        # Final result to hash
+        result = np.round(state, decimals=6)
+        resultStr = ','.join(map(str, result))
+        hashDigest = hashlib.sha256(resultStr.encode()).hexdigest()
+        testHash = np.loadtxt('testHash.txt', dtype=str)
+        if hashDigest != testHash:
+            print("Test failed! Please re-download source code")
+        else:
+            print("Test passed")
+
+
+    testButton.on_clicked(runVerification)
+
+    plt.show()

cw_doublependulum-0.1.0.dist-info/RECORD

@@ -1,6 +0,0 @@
-main.py,sha256=T9MMJ_Nzi0p2lX6XWCkdRCroP5-qPcpVfFxxKg_tLMg,12114
-cw_doublependulum-0.1.0.dist-info/licenses/LICENSE,sha256=P_M8rIY4EFOQArRFqXCsxqdZyDp2kUCszxsaDapqA_4,1090
-cw_doublependulum-0.1.0.dist-info/METADATA,sha256=KpvoXdLoey1OcCT7q_myQhBSzkVk4PnKXl5-jCYJWzA,719
-cw_doublependulum-0.1.0.dist-info/WHEEL,sha256=0CuiUZ_p9E4cD6NyLD6UG80LBXYyiSYZOKDm5lp32xk,91
-cw_doublependulum-0.1.0.dist-info/top_level.txt,sha256=ZAMgPdWghn6xTRBO6Kc3ML1y3ZrZLnjZlqbboKXc_AE,5
-cw_doublependulum-0.1.0.dist-info/RECORD,,

cw_doublependulum-0.1.0.dist-info/top_level.txt

@@ -1 +0,0 @@
-main

main.py

@@ -1,362 +0,0 @@
-import numpy as np
-import matplotlib.pyplot as plt
-from matplotlib.widgets import Slider, CheckButtons, Button
-from matplotlib.animation import FuncAnimation
-from matplotlib.collections import LineCollection
-import time
-import csv
-
-# Initial parameters (all can be modified with sliders)
-l1 = 1.0
-l2 = 1.0
-m1 = 1.0
-m2 = 1.0
-g = 9.81
-dt = 0.02
-
-# Initial conditions: [theta1, omega1, theta2, omega2]
-state = np.array([np.pi / 2, 0, np.pi / 2, 0], dtype=float)
-
-# Control flags
-animationRunning = True
-collectingData = False
-
-collectedData = []
-
-def derivs(state, l1, l2, m1, m2):
-    theta1, omega1, theta2, omega2 = state
-    delta = theta2 - theta1
-
-    denom1 = (m1 + m2) * l1 - m2 * l1 * np.cos(delta)**2
-    denom2 = (l2 / l1) * denom1
-
-    domega1 = (m2 * l1 * omega1**2 * np.sin(delta) * np.cos(delta) +
-           m2 * g * np.sin(theta2) * np.cos(delta) +
-           m2 * l2 * omega2**2 * np.sin(delta) -
-           (m1 + m2) * g * np.sin(theta1)) / denom1
-
-    domega2 = (-m2 * l2 * omega2**2 * np.sin(delta) * np.cos(delta) +
-           (m1 + m2) * g * np.sin(theta1) * np.cos(delta) -
-           (m1 + m2) * l1 * omega1**2 * np.sin(delta) -
-           (m1 + m2) * g * np.sin(theta2)) / denom2
-
-    return np.array([omega1, domega1, omega2, domega2])
-
-def step():
-    global state
-    k1 = derivs(state, l1, l2, m1, m2)
-    k2 = derivs(state + 0.5 * dt * k1, l1, l2, m1, m2)
-    k3 = derivs(state + 0.5 * dt * k2, l1, l2, m1, m2)
-    k4 = derivs(state + dt * k3, l1, l2, m1, m2)
-    state += (dt / 6) * (k1 + 2 * k2 + 2 * k3 + k4)
-
-def getPos():
-    theta1, omega1, theta2, omega2 = state
-    x1 = l1 * np.sin(theta1)
-    y1 = -l1 * np.cos(theta1)
-    x2 = x1 + l2 * np.sin(theta2)
-    y2 = y1 - l2 * np.cos(theta2)
-    return x1, y1, x2, y2, theta1, omega1, theta2, omega2
-
-def updatePlotLimits():
-    # Calculate the range based on the diagonal extent of both pendulums
-    # Add 20% margin
-    maxRange = (l1 + l2) * 1.2
-    ax.set_xlim(-maxRange, maxRange)
-    ax.set_ylim(-maxRange, maxRange)
-    fig.canvas.draw_idle()
-
-# Function to convert mass to marker size
-def massToSize(mass):
-    return 3 + 5 * (mass ** 0.7)
-
-# Make large figure for buttons and whatnot
-fig = plt.figure(figsize=(12, 8))
-# Adjust the main plot area to make room for UI elements
-plt.subplots_adjust(left=0.2, right=0.8, bottom=0.2)
-ax = plt.subplot(111)
-ax.set_aspect('equal')
-updatePlotLimits()
-ax.plot(0, 0, 'ko')  # Center point/pivot
-ax.set_title('Double Pendulum Simulation')
-
-# Pendulum components
-line, = ax.plot([], [], '-', lw=2, color='black')
-mass1, = ax.plot([], [], 'bo', markersize=massToSize(m1))
-mass2, = ax.plot([], [], 'ro', markersize=massToSize(m2))
-
-# Trail lines
-trailLength = 100
-trailSegments1 = []
-trailSegments2 = []
-trailCmap1 = plt.get_cmap('winter') # these don't really have any gradient for some reason, idc anymore
-trailCmap2 = plt.get_cmap('autumn')
-trail1 = ax.add_collection(LineCollection([], linewidths=2, cmap=trailCmap1, alpha=0.6))
-trail2 = ax.add_collection(LineCollection([], linewidths=2, cmap=trailCmap2, alpha=0.6))
-
-# Trace flags
-showTrace1 = True
-showTrace2 = True
-
-def init():
-    line.set_data([], [])
-    mass1.set_data([], [])
-    mass2.set_data([], [])
-    trail1.set_segments([])
-    trail2.set_segments([])
-    return line, mass1, mass2, trail1, trail2
-
-def update(frame):
-    global collectedData
-    
-    if animationRunning:
-        step()
-    
-    x1, y1, x2, y2, theta1, omega1, theta2, omega2 = getPos()
-    
-    # Collect data and setup keys
-    if collectingData:
-        timestamp = time.time()
-        collectedData.append({
-            'time': timestamp,
-            'theta1': theta1, 
-            'omega1': omega1, 
-            'theta2': theta2, 
-            'omega2': omega2,
-            'x1': x1, 
-            'y1': y1, 
-            'x2': x2, 
-            'y2': y2,
-            'l1': l1,
-            'l2': l2,
-            'm1': m1,
-            'm2': m2,
-            'g': g,
-            'dt': dt
-        })
-    
-    # Update pendulum position
-    line.set_data([0, x1, x2], [0, y1, y2])
-    mass1.set_data([x1], [y1])
-    mass2.set_data([x2], [y2])
-    
-    # Update trail if animation is running
-    if animationRunning:
-        if len(trailSegments1) > 0:
-            prevX1, prevY1 = trailSegments1[-1][-1]
-            prevX2, prevY2 = trailSegments2[-1][-1]
-            
-            trailSegments1.append([[prevX1, prevY1], [x1, y1]])
-            trailSegments2.append([[prevX2, prevY2], [x2, y2]])
-        else:
-            trailSegments1.append([[x1, y1], [x1, y1]])
-            trailSegments2.append([[x2, y2], [x2, y2]])
-        
-        # Limit trail length
-        if len(trailSegments1) > trailLength:
-            trailSegments1.pop(0)
-            trailSegments2.pop(0)
-    
-    # Update trail if enabled
-    if showTrace1 and len(trailSegments1) > 0:
-        n = len(trailSegments1)
-        alphas = np.linspace(0.0, 1.0, n)
-        trail1.set_segments(trailSegments1)
-        trail1.set_array(alphas)
-    else:
-        trail1.set_segments([])
-    
-    if showTrace2 and len(trailSegments2) > 0:
-        n = len(trailSegments2)
-        alphas = np.linspace(0.0, 1.0, n)
-        trail2.set_segments(trailSegments2)
-        trail2.set_array(alphas)
-    else:
-        trail2.set_segments([])
-    
-    return line, mass1, mass2, trail1, trail2
-
-ani = FuncAnimation(fig, update, init_func=init, blit=True, interval=20)
-
-# -------------------- LAYOUT ARRANGEMENT --------------------
-axcolor = 'lightgoldenrodyellow'
-
-# ---- SLIDERS (RIGHT SIDE) ----
-sliderWidth = 0.15
-sliderHeight = 0.03
-sliderLeft = 0.82
-sliderGap = 0.05
-
-# Create slider axes on the right side
-axM1 = plt.axes([sliderLeft, 0.7, sliderWidth, sliderHeight], facecolor=axcolor)
-axM2 = plt.axes([sliderLeft, 0.7 - sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
-axL1 = plt.axes([sliderLeft, 0.7 - 2*sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
-axL2 = plt.axes([sliderLeft, 0.7 - 3*sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
-axG  = plt.axes([sliderLeft, 0.7 - 4*sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
-axDt = plt.axes([sliderLeft, 0.7 - 5*sliderGap, sliderWidth, sliderHeight], facecolor=axcolor)
-
-# Create sliders
-sliderM1 = Slider(axM1, 'Mass 1', 0.1, 5.0, valinit=m1)
-sliderM2 = Slider(axM2, 'Mass 2', 0.1, 5.0, valinit=m2)
-sliderL1 = Slider(axL1, 'Length 1', 0.1, 2.0, valinit=l1)
-sliderL2 = Slider(axL2, 'Length 2', 0.1, 2.0, valinit=l2)
-sliderG  = Slider(axG, 'Gravity', 0.1, 20.0, valinit=g)
-sliderDt = Slider(axDt, 'Time Step', 0.005, 0.05, valinit=dt)
-
-# ---- BUTTONS (LEFT SIDE) ----
-buttonWidth = 0.15
-buttonHeight = 0.05
-buttonLeft = 0.02
-buttonGap = 0.06
-
-# Add checkbox buttons for trails
-rax = plt.axes([buttonLeft, 0.7, buttonWidth, 0.1], facecolor=axcolor)
-check = CheckButtons(
-    rax, ['Trail 1', 'Trail 2'], 
-    [showTrace1, showTrace2]
-)
-
-# Add buttons
-resetAx = plt.axes([buttonLeft, 0.6, buttonWidth, buttonHeight], facecolor=axcolor)
-pauseAx = plt.axes([buttonLeft, 0.6 - buttonGap, buttonWidth, buttonHeight], facecolor=axcolor)
-collectAx = plt.axes([buttonLeft, 0.6 - 2*buttonGap, buttonWidth, buttonHeight], facecolor=axcolor)
-
-resetButton = plt.Button(resetAx, 'Reset', color=axcolor)
-pauseButton = plt.Button(pauseAx, 'Pause', color=axcolor)
-collectButton = plt.Button(collectAx, 'Collect Data', color=axcolor)
-
-# -------------------- CALLBACKS -------------------- be careful >:(
-def updateSliders(val):
-    global m1, m2, l1, l2, g, dt
-    if not collectingData:  # Only allow changes when not collecting data
-        m1 = sliderM1.val
-        m2 = sliderM2.val
-        l1 = sliderL1.val
-        l2 = sliderL2.val
-        g = sliderG.val
-        dt = sliderDt.val
-        
-        # Update mass marker sizes based on new mass values
-        mass1.set_markersize(massToSize(m1))
-        mass2.set_markersize(massToSize(m2))
-        updatePlotLimits()
-        
-        # Clear trails when parameters change
-        trailSegments1.clear()
-        trailSegments2.clear()
-        trail1.set_segments([])
-        trail2.set_segments([])
-
-sliderM1.on_changed(updateSliders)
-sliderM2.on_changed(updateSliders)
-sliderL1.on_changed(updateSliders)
-sliderL2.on_changed(updateSliders)
-sliderG.on_changed(updateSliders)
-sliderDt.on_changed(updateSliders)
-
-def toggleTrace(label):
-    global showTrace1, showTrace2
-    if label == 'Trail 1':
-        showTrace1 = not showTrace1
-        if not showTrace1:
-            trail1.set_segments([])
-    elif label == 'Trail 2':
-        showTrace2 = not showTrace2
-        if not showTrace2:
-            trail2.set_segments([])
-
-check.on_clicked(toggleTrace)
-
-def reset(event):
-    global state, trailSegments1, trailSegments2
-    if not collectingData:  # Only reset when not collecting data dummy
-        state = np.array([np.pi / 2, 0, np.pi / 2, 0], dtype=float)
-        trailSegments1.clear()
-        trailSegments2.clear()
-        trail1.set_segments([])
-        trail2.set_segments([])
-
-resetButton.on_clicked(reset)
-
-def toggleAnimation(event):
-    global animationRunning
-    animationRunning = not animationRunning
-    pauseButton.label.set_text('Play' if not animationRunning else 'Pause')
-
-pauseButton.on_clicked(toggleAnimation)
-
-def toggleDataCollection(event):
-    global collectingData, collectedData
-    
-    collectingData = not collectingData
-    
-    if collectingData:
-        collectButton.label.set_text('Stop Collecting')
-        collectedData = []  # Clear previous data
-        
-        # Disable sliders to ensure good data | might change and allow different stuff, but i see weird behavior idk
-        sliderM1.active = False
-        sliderM2.active = False
-        sliderL1.active = False
-        sliderL2.active = False
-        sliderG.active = False
-        sliderDt.active = False
-        
-        # Change slider colors to show they have been imprisoned, how sad it doesn't work
-        axM1.set_facecolor('red')
-        axM2.set_facecolor('red')
-        axL1.set_facecolor('red')
-        axL2.set_facecolor('red')
-        axG.set_facecolor('red')
-        axDt.set_facecolor('red')
-        
-    else:
-        # Save data
-        collectButton.label.set_text('Collect Data')
-        
-        # Reenable
-        sliderM1.active = True
-        sliderM2.active = True
-        sliderL1.active = True
-        sliderL2.active = True
-        sliderG.active = True
-        sliderDt.active = True
-        
-        # Restore da colors
-        axM1.set_facecolor(axcolor)
-        axM2.set_facecolor(axcolor)
-        axL1.set_facecolor(axcolor)
-        axL2.set_facecolor(axcolor)
-        axG.set_facecolor(axcolor)
-        axDt.set_facecolor(axcolor)
-        
-        # Save data to file
-        if collectedData:
-            filename = f"pendulum_data_{int(time.time())}.csv"
-            saveDataToFile(filename)
-            plt.figtext(0.5, 0.01, f"Data saved to {filename}", ha="center", bbox={"facecolor":"green", "alpha":0.5, "pad":5})
-            fig.canvas.draw_idle()
-
-collectButton.on_clicked(toggleDataCollection)
-
-def saveDataToFile(filename):
-    with open(filename, 'w', newline='') as csvfile:
-        fieldnames = ['time', 'theta1', 'omega1', 'theta2', 'omega2', 'x1', 'y1', 'x2', 'y2', 'l1', 'l2', 'm1', 'm2', 'g', 'dt']
-        writer = csv.DictWriter(csvfile, fieldnames=fieldnames)
-        
-        writer.writeheader()
-        for dataPoint in collectedData:
-            writer.writerow(dataPoint)
-
-# Super duper text box that tells you super duper controls idk what im saying anymore
-infoText = """Controls:
-- Use sliders to adjust parameters
-- Toggle trails with checkboxes
-- Pause/Play the simulation
-- Reset to initial state
-- Collect data for analysis
-"""
-# Make da box
-fig.text(0.02, 0.2, infoText, fontsize=9, bbox=dict(facecolor=axcolor, alpha=0.5))
-
-plt.show()