Merge pull request #8 from JuliaComputing/fbc/fix-discrete-ff-clock

Fix dropped clock connection in DiscreteCascadeFFController

Author: baggepinnen

dyad/cascade_ff.dyad

@@ -193,7 +193,7 @@ relations
   connect(torque_ff, sampler_torqueff.u) {^id26}
   connect(sampler_torqueff.y, angle_controller.u_ff) {^id27}
   connect(angle_measurement, sampler_theta.u) {^id28}
-  connect(sampler_theta.y, angle_controller.u_m) {^id29}
+  connect(sampler_theta.y, angle_controller.u_m, clock.y) {^id29}
   connect(angle_controller.y, gain.u) {^id30}
   connect(gain.y, zoh.u) {^id31}
   connect(zoh.y, torque) {^id32}
@@ -354,12 +354,11 @@ metadata {
     "id29": {
       "Dyad": {
         "edges": [
-          {
-            "S": 1,
-            "M": [{"x": 710, "y": 700}, {"x": 530, "y": 700}, {"x": 530, "y": 524}],
-            "E": 2
-          }
-        ]
+          {"S": 1, "M": [{"x": 710, "y": 700}], "E": -1},
+          {"S": -1, "M": [{"x": 530, "y": 524}], "E": 2},
+          {"S": 3, "M": [{"x": 460, "y": 700}], "E": -1}
+        ],
+        "junctions": [{"x": 530, "y": 700}]
       }
     },
     "id30": {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}]}},

generated/CascadeControlledDyadBot_definition.jl

@@ -134,10 +134,10 @@ and `scripts/tune_cascade_pid.jl`, or all simultaneously with
   ### Equations
   push!(__eqs, connect(square.y, firstorder.u))
   push!(__eqs, connect(firstorder.y, firstorder1.u))
-  push!(__eqs, connect(firstorder1.y, controller.pos_reference))
-  push!(__eqs, connect(plant.x, controller.pos_measurement))
-  push!(__eqs, connect(plant.theta, controller.angle_measurement))
   push!(__eqs, connect(controller.torque, plant.torque))
+  push!(__eqs, connect(plant.theta, controller.angle_measurement))
+  push!(__eqs, connect(plant.x, controller.pos_measurement))
+  push!(__eqs, connect(firstorder1.y, controller.pos_reference))
 
   # Return completely constructed System
   return System(__eqs, t, __vars, __params; systems=__systems, initial_conditions=__initial_conditions, guesses=__guesses, name, initialization_eqs=__initialization_eqs, bindings=__bindings, assertions=__assertions)

generated/CascadeFFDyadBot_definition.jl

@@ -77,7 +77,7 @@ the discrete-time model `DiscreteCascadeFFDyadBot` is identical except that
   ### Components
   # Subcomponent world of type MultibodyComponents.PlanarMechanics.World
   world_overrides = __pop_subcomponent_overrides!(__overrides, "world")
-  push!(__systems, @named world = MultibodyComponents.PlanarMechanics.World(; g=9.82, world_overrides...))
+  push!(__systems, @named world = MultibodyComponents.PlanarMechanics.World(; g=9.82, nominal_length=0.1, world_overrides...))
   # Subcomponent plant of type DyadBotComponents.PlanarDyadBot
   plant_overrides = __pop_subcomponent_overrides!(__overrides, "plant")
   push!(__systems, @named plant = DyadBotComponents.PlanarDyadBot(; phi0=phi0, plant_overrides...))

generated/DiscreteCascadeFFController_definition.jl

@@ -142,7 +142,7 @@ controller.
   push!(__eqs, connect(torque_ff, sampler_torqueff.u))
   push!(__eqs, connect(sampler_torqueff.y, angle_controller.u_ff))
   push!(__eqs, connect(angle_measurement, sampler_theta.u))
-  push!(__eqs, connect(sampler_theta.y, angle_controller.u_m))
+  push!(__eqs, connect(sampler_theta.y, angle_controller.u_m, clock.y))
   push!(__eqs, connect(angle_controller.y, gain.u))
   push!(__eqs, connect(gain.y, zoh.u))
   push!(__eqs, connect(zoh.y, torque))

generated/DiscreteCascadeFFDyadBot_definition.jl

@@ -71,7 +71,7 @@ structural parameter `Ts`.
   ### Components
   # Subcomponent world of type MultibodyComponents.PlanarMechanics.World
   world_overrides = __pop_subcomponent_overrides!(__overrides, "world")
-  push!(__systems, @named world = MultibodyComponents.PlanarMechanics.World(; g=9.82, world_overrides...))
+  push!(__systems, @named world = MultibodyComponents.PlanarMechanics.World(; g=9.82, nominal_length=0.1, world_overrides...))
   # Subcomponent plant of type DyadBotComponents.PlanarDyadBot
   plant_overrides = __pop_subcomponent_overrides!(__overrides, "plant")
   push!(__systems, @named plant = DyadBotComponents.PlanarDyadBot(; phi0=phi0, plant_overrides...))