init

lua/metrostroi/systems/sys_ekg.lua

@@ -0,0 +1,136 @@
+--------------------------------------------------------------------------------
+-- Contactors switch (EKG) base
+--------------------------------------------------------------------------------
+-- Copyright (C) 2013-2018 Metrostroi Team & FoxWorks Aerospace s.r.o.
+-- Contains proprietary code. See license.txt for additional information.
+--------------------------------------------------------------------------------
+Metrostroi.DefineSystem("EKG")
+
+function TRAIN_SYSTEM:Initialize()
+    -- Controller configuration
+    self.Configuration = self.Configuration or {
+        [ 1] = { 0, 0 },
+        [ 2] = { 1, 1 },
+    }
+
+    -- Resistance value of all contactors
+    for k,v in ipairs(self.Configuration[1]) do self[k] = 1e15 end
+    for k,v in ipairs(self.Configuration[1]) do self[k.."_v"] = 0 end
+    for k,v in ipairs(self.Configuration[1]) do self[k.."_contactor"] = 0 end
+    -- Rate of rotation (positions per second
+    self.RotationRate = self.RotationRate or 1.0/0.12
+    self.OverrideRate = self.OverrideRate or {}
+
+    -- Initialize motor state and position
+    self.Position = 1           -- Current literal position
+    self.Velocity = 0           -- Current velocity
+    self.SelectedPosition = 1   -- Currently selected set of contactors
+    self.MotorState = 0         -- State of motor (1 go, -1 brake)
+    self.MotorCoilState = 1     -- State of the motor coil (selects direction)
+    self.RKM1 = 0               -- Intermediate position contactor
+    self.RKM2 = 0               -- Intermediate position contactor
+    self.RKP = 0                -- Final position contactor
+
+    -- Max position
+    self.MaxPosition = #self.Configuration
+
+    -- Use more iterations to make sure rotation of the rotor passes through all positions
+    self.SubIterations = 16
+end
+
+function TRAIN_SYSTEM:Inputs()
+    return { "MotorState", "MotorCoilState" }
+end
+
+function TRAIN_SYSTEM:Outputs()
+    return { "Position", "Velocity", "MotorState", "MotorCoilState", "RKM1", "RKM2", "RKP","SelectedPosition" }
+end
+
+function TRAIN_SYSTEM:TriggerInput(name,value)
+    if name == "MotorState" then
+        self.MotorState =  value
+    elseif name == "MotorCoilState" then
+        self.MotorCoilState = value
+    end
+end
+
+function TRAIN_SYSTEM:TriggerInput(name,value)
+    if name == "MotorState" then
+        if value > 0.5 then
+            self.MotorState =  1.0
+        elseif value < -0.5 then
+            self.MotorState = -1.0
+        else
+            self.MotorState = 0.0
+        end
+    elseif name == "MotorCoilState" then
+        self.MotorCoilState = value
+    end
+end
+
+function TRAIN_SYSTEM:Think(dT)
+    local Train = self.Train
+
+    -- Get currently selected position
+    local position = math.floor(self.Position+0.5)
+    if position < 1 then position = 1 end
+    if position > self.MaxPosition then position = self.MaxPosition end
+
+    -- Lock contacts as defined in the configuration
+    for k,v in ipairs(self.Configuration[position]) do
+        self[k] = 1e-15 + 1e15 * (1-v)
+        self[k.."_v"] = v
+        self[k.."_contactor"] = v
+    end
+
+    -- Start or stop motor rotation
+    --[[ local rate = self.OverrideRate[position] or self.RotationRate
+    if self.MotorState >  0 then
+        self.Velocity = rate*math.max(-1,math.min(1,self.MotorCoilState))
+    end
+    if self.MotorState <  0 and self.Velocity ~= 0 then
+        self.Velocity = 0
+        local pos = (position-self.Position)
+        self.Position = position--math.max(position-0.02,math.min(self.Position,position+0.02))
+        --self.StopTimer = CurTime()
+    end--]]
+
+    -- Move motor
+    local threshold = self.RotationRate*dT -- Maximum single step of motor per frame
+    --print(self.Name,self.Velocity,math.min(threshold,self.Velocity * dT),threshold)
+
+    local rate = self.OverrideRate[position] or self.RotationRate
+    if self.MotorState ==  1.0 then
+        self.Velocity = rate*math.max(-1,math.min(1,self.MotorCoilState))
+    end
+    if self.MotorState == -1.0 then
+        self.Velocity = 0
+    end
+    self.Position = self.Position + math.min(threshold,self.Velocity * dT)
+    -- Limit motor from moving too far
+    --self.WrapsAround = false
+    if not self.WrapsAround then
+        if self.Position > self.MaxPosition+0.1 then
+            self.Position = self.MaxPosition+0.1
+            self.Velocity = 0.0
+            self.MotorState = 0.0
+        end
+        if self.Position < 0.9 then
+            self.Position = 0.9
+            self.Velocity = 0.0
+            self.MotorState = 0.0
+        end
+    else
+        if self.Position > self.MaxPosition+1.0 then self.Position = -1.0 end
+        if self.Position < -1.0  then self.Position = self.MaxPosition+1.0 end
+    end
+
+    local BadValues = self.Position < 0.9 or self.Position > self.MaxPosition+0.1
+    -- Update position contactors
+    local f = self.Position - position
+    self.RKM1 = ((f < -0.30) or  (f > 0.30)) and 1 or 0
+    self.RKM2 = not BadValues and ((f < -0.40) or  (f > 0.40)) and 1 or 0
+    self.RKP  = ((f > -0.10) and (f < 0.10)) and 1 or 0
+    -- Update position readout
+    if ((f > -0.40) and (f < 0.40)) then self.SelectedPosition = position end
+end