ENH: merged dis+con and added None for sampling rate of cont

Author: Malmahrouqi3

rocketpy/control/controller.py

@@ -1,4 +1,3 @@
-import math
 from inspect import signature
 from typing import Iterable
 
@@ -18,7 +17,7 @@ def __init__(
         self,
         interactive_objects,
         controller_function,
-        sampling_rate=math.inf,
+        sampling_rate=None,
         initial_observed_variables=None,
         name="Controller",
     ):
@@ -73,8 +72,8 @@ def __init__(
             relevant information in the `observed_variables` list.
 
             .. note:: The function will be called according to the sampling rate
-            specified. If unspecified, the default sampling rate is set to infinity, meaning that the
-            controller function will be called at every step of the simulation.
+            specified. If unspecified, the default sampling rate is set to None, meaning that the
+            controller function will be called at every solver step of the simulation.
         sampling_rate : float
             The sampling rate of the controller function in Hertz (Hz). This
             means that the controller function will be called every

rocketpy/rocket/rocket.py

@@ -1169,6 +1169,8 @@ def _add_controllers(self, controllers):
         except TypeError:
             self._controllers.append(controllers)
 
+        return controllers
+
     def add_tail(
         self, top_radius, bottom_radius, length, position, radius=None, name="Tail"
     ):
@@ -2002,50 +2004,6 @@ def add_thrust_eccentricity(self, x, y):
         self.thrust_eccentricity_y = y
         return self
 
-    def add_discrete_controller(
-        self,
-        controller_function,
-        refresh_rate,
-        interactive_objects=None,
-        initial_observed_variables=None,
-        name="Controller",
-    ):
-        """Creates a new discrete controller, storing its parameters such as
-        controller function, refresh rate, and interactive objects. The controller
-        will be called at the specified refresh rate during the simulation."""
-
-        controller = _Controller(
-            controller_function=controller_function,
-            sampling_rate=refresh_rate,
-            interactive_objects=interactive_objects,
-            initial_observed_variables=initial_observed_variables,
-            name=name,
-        )
-
-        self._add_controllers(controller)
-
-    def add_continuous_controller(
-        self,
-        controller_function,
-        interactive_objects=None,
-        initial_observed_variables=None,
-        name="Controller",
-    ):
-        """Creates a new continuous controller, storing its parameters such as
-        controller function and interactive objects. The controller will
-        be called at every time step of the simulation."""
-
-        controller = _Controller(
-            controller_function=controller_function,
-            sampling_rate=math.inf,
-            interactive_objects=interactive_objects,
-            initial_observed_variables=initial_observed_variables,
-            name=name,
-        )
-
-        self._add_controllers(controller)
-        return controller
-
     def draw(self, vis_args=None, plane="xz", *, filename=None):
         """Draws the rocket in a matplotlib figure.
 

rocketpy/simulation/flight.py

@@ -1584,7 +1584,7 @@ def __init_controllers(self):
         """Initialize controllers and sensors"""
         self._controllers = self.rocket._controllers[:]
         self._continuous_controllers = [
-            c for c in self._controllers if math.isinf(c.sampling_rate)
+            c for c in self._controllers if c.sampling_rate is None
         ]
         self.sensors = self.rocket.sensors.get_components()
 
@@ -4499,7 +4499,7 @@ def add_parachutes(self, parachutes, t_init, t_end):
         def add_controllers(self, controllers, t_init, t_end):
             for controller in controllers:
                 # Skip node creation for continuous controllers
-                if math.isinf(controller.sampling_rate):
+                if controller.sampling_rate is None:
                     continue
                 # Calculate start of sampling time nodes
                 controller_time_step = 1 / controller.sampling_rate