fixup! fixup! fixup! fixup! fixup! Add physics model

implementation/SCARA/02_physics/scara_physics.emx

@@ -8,7 +8,7 @@
 <IsMainModel>0</IsMainModel>
   <KeepParameterValues>False</KeepParameterValues>
     <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\02_physics\scara_physics.emx</LibraryPath>
-  <TimeStamp>2020-7-15 11:18:58</TimeStamp>
+  <TimeStamp>2020-7-15 11:32:27</TimeStamp>
 </Description>
  <Attributes>
   <GlobalRelations>parameters
@@ -35,7 +35,7 @@ initialequations
 	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';
     type Submodel
      ports
-      power in p [2,1];
+      translation in p [2,1];
       signal in mass {kg} ;
     end;
     icon bg ellipse bottom
@@ -96,7 +96,7 @@ implementation_end;
 </Description>';
        knot OneJunction
         ports
-         power knot duplicatable none p [2,1];
+         translation knot duplicatable none p [2,1];
          signal knot out flow [2,1];
         restrictions
          causality constraint one_out p;
@@ -444,7 +444,7 @@ implementation_end;
 </Information>';
     type MSe
      ports
-      power out p;
+      rotation out p;
       signal in effort;
      restrictions
       causality fixed out p;
@@ -531,7 +531,7 @@ implementation_end;
 </Information>';
     knot OneJunction
      ports
-      power knot duplicatable none p [2,1];
+      translation knot duplicatable none p [2,1];
       signal knot out flow [2,1];
      restrictions
       causality constraint one_out p;
@@ -558,7 +558,7 @@ implementation_end;
 </Information>';
     knot OneJunction
      ports
-      power knot duplicatable none p [1];
+      rotation knot duplicatable none p [1];
       signal knot out flow [1];
      restrictions
       causality constraint one_out p;
@@ -639,7 +639,7 @@ implementation_end;
 </Information>';
     knot OneJunction
      ports
-      power knot duplicatable none p [1];
+      rotation knot duplicatable none p [1];
       signal knot out flow [1];
      restrictions
       causality constraint one_out p;
@@ -859,7 +859,7 @@ equations
 	pistate = int (pirate);
 	output = pistate + pdout;
       implementation_end;
-   PlusMinus1 632 400
+   PlusMinus1 616 400
     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
   <TimeStamp>2007-9-27 10:15:13</TimeStamp>
@@ -872,7 +872,7 @@ equations
     end;
     icon bg ellipse
      figures
-      ellipse 624 392 640 408 color 0 fill 16777215;
+      ellipse 608 392 624 408 color 0 fill 16777215;
     end;
     implementation eq
 equations
@@ -1036,7 +1036,7 @@ equations
 	p1.e = transpose (r) * p2.e;
 	p2.f = r * p1.f;
 implementation_end;
-   RTF1 632 368
+   RTF1 616 368
     description '<Information>
  <Description>
     <Version>4.8</Version>
@@ -1056,7 +1056,7 @@ implementation_end;
     end;
     icon bg bottom
      figures
-      text 'RTF' 632 368 color 0 18 bold;
+      text 'RTF' 616 368 color 0 18 bold;
     end;
     implementation eq
 /*
@@ -1630,7 +1630,7 @@ implementation_end;
 </Information>';
     knot ZeroJunction
      ports
-      power knot duplicatable none p [1];
+      rotation knot duplicatable none p [1];
       signal knot out effort [1];
      restrictions
       causality constraint one_in p;
@@ -1657,7 +1657,7 @@ implementation_end;
 </Information>';
     knot ZeroJunction
      ports
-      power knot duplicatable none p [1];
+      rotation knot duplicatable none p [1];
       signal knot out effort [1];
      restrictions
       causality constraint one_in p;
@@ -1807,8 +1807,6 @@ implementation_end;
   <PlotSpecs>
    <VarNames>
     <VarName>time</VarName>
-    <VarName>Submodel4\position[2]</VarName>
-    <VarName>Submodel4\position[1]</VarName>
     <VarName>Submodel3\body_position[1]</VarName>
     <VarName>Submodel3\body_position[2]</VarName>
     <VarName>Submodel3\body_position[3]</VarName>
@@ -1829,6 +1827,8 @@ implementation_end;
     <VarName>Submodel4\body_position[3]</VarName>
     <VarName>PlusMinus2\output</VarName>
     <VarName>PlusMinus3\output</VarName>
+    <VarName>MSe2\effort</VarName>
+    <VarName>MSe1\effort</VarName>
    </VarNames>
    <Plots>
     <Plot>
@@ -1901,25 +1901,51 @@ implementation_end;
      <SharedZAxis>false</SharedZAxis>
      <XAxes>
       <Axis>
-       <Minimum>-0.04357977129155497</Minimum>
-       <Maximum>0.09</Maximum>
+       <Minimum>0.0</Minimum>
+       <Maximum>10.0</Maximum>
        <Linear>true</Linear>
        <Scaling>3</Scaling>
-       <Label>position[1]</Label>
+       <Label>time</Label>
       </Axis>
      </XAxes>
      <YAxes>
       <Axis>
-       <Minimum>-0.010000000000000004</Minimum>
-       <Maximum>0.09</Maximum>
+       <Minimum>-60.0</Minimum>
+       <Maximum>140.0</Maximum>
        <Linear>true</Linear>
        <Scaling>1</Scaling>
-       <Label>position[2]</Label>
+       <Label>Joint 2 Torque</Label>
+      </Axis>
+      <Axis>
+       <Minimum>-60.0</Minimum>
+       <Maximum>140.0</Maximum>
+       <Linear>true</Linear>
+       <Scaling>1</Scaling>
+       <Label>Joint 1 Torque</Label>
       </Axis>
      </YAxes>
      <ZAxes>
      </ZAxes>
      <Curves>
+      <Curve>
+       <LineColor>3355111</LineColor>
+       <LineStyle>1</LineStyle>
+       <TickColor>6076255</TickColor>
+       <TickStyle>0</TickStyle>
+       <CurveVisible>true</CurveVisible>
+       <PixelThresshold>1</PixelThresshold>
+       <LineThickness>1</LineThickness>
+       <LineOrder>1</LineOrder>
+       <ShowYValues>true</ShowYValues>
+       <XCurveData>
+        <ShowUnit>true</ShowUnit>
+        <VarName>time</VarName>
+       </XCurveData>
+       <YCurveData>
+        <ShowUnit>true</ShowUnit>
+        <VarName>MSe1\effort</VarName>
+       </YCurveData>
+      </Curve>
       <Curve>
        <LineColor>6076255</LineColor>
        <LineStyle>1</LineStyle>
@@ -1932,11 +1958,11 @@ implementation_end;
        <ShowYValues>true</ShowYValues>
        <XCurveData>
         <ShowUnit>true</ShowUnit>
-        <VarName>Submodel4\position[1]</VarName>
+        <VarName>time</VarName>
        </XCurveData>
        <YCurveData>
         <ShowUnit>true</ShowUnit>
-        <VarName>Submodel4\position[2]</VarName>
+        <VarName>MSe2\effort</VarName>
        </YCurveData>
       </Curve>
      </Curves>
@@ -3057,18 +3083,18 @@ implementation_end;
          </X>
          <Y>
      <VariableName>Submodel3\body_position[2]</VariableName>
-     <Value>-0.003324486493480361</Value>
+     <Value>-0.015591054468984419</Value>
          </Y>
          <Z>
      <VariableName>Submodel3\body_position[3]</VariableName>
-     <Value>0.0322803662779697</Value>
+     <Value>0.02839804369188481</Value>
          </Z>
         </Position>
         <Orientation>
          <Angles>
      <X>
       <VariableName>Submodel3\body_angle[1]</VariableName>
-      <Value>1.6732325429015287</Value>
+      <Value>2.0707634357697753</Value>
      </X>
      <Y>
       <VariableName>Submodel3\body_angle[2]</VariableName>
@@ -3162,18 +3188,18 @@ implementation_end;
          </X>
          <Y>
      <VariableName>Submodel4\body_position[2]</VariableName>
-     <Value>0.01712950212216267</Value>
+     <Value>-0.010135822953757957</Value>
          </Y>
          <Z>
      <VariableName>Submodel4\body_position[3]</VariableName>
-     <Value>0.07220095787584248</Value>
+     <Value>0.043352853018051335</Value>
          </Z>
         </Position>
         <Orientation>
          <Angles>
      <X>
       <VariableName>Submodel4\body_angle[1]</VariableName>
-      <Value>0.3105772067921056</Value>
+      <Value>-0.5673063175192282</Value>
      </X>
      <Y>
       <VariableName>Submodel4\body_angle[2]</VariableName>
@@ -3377,7 +3403,7 @@ implementation_end;
   <BreakPoints>
   </BreakPoints>
   <AnimationPlayback>
-   <PlaybackSpeed>0.125</PlaybackSpeed>
+   <PlaybackSpeed>1.0</PlaybackSpeed>
   </AnimationPlayback>
 </ExpData>
   </Experiment>