From b6aedb67b357576cbaed75c66395455031a8f9a7 Mon Sep 17 00:00:00 2001
From: Wouter Horlings <wouter@horlin.gs>
Date: Wed, 15 Jul 2020 11:24:54 +0200
Subject: [PATCH] fixup! fixup! fixup! fixup! Add physics model

---
 .../SCARA/02_physics/scara_physics.emx        | 91 +++++++++----------
 1 file changed, 44 insertions(+), 47 deletions(-)

diff --git a/implementation/SCARA/02_physics/scara_physics.emx b/implementation/SCARA/02_physics/scara_physics.emx
index 6bdf850..d8a3874 100644
--- a/implementation/SCARA/02_physics/scara_physics.emx
+++ b/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>2020-7-14 18:34:19</TimeStamp>
+  <TimeStamp>2020-7-15 11:18:58</TimeStamp>
 </Description>
  <Attributes>
   <GlobalRelations>parameters
@@ -360,7 +360,7 @@ equations
     state = int(p.e);
     p.f = state / i;
 implementation_end;
-   inverse_kinematics 312 32
+   inverse_kinematics 304 32
     description '<Information>
  <Description>
     <Version>4.8</Version>
@@ -1313,7 +1313,7 @@ implementation_end;
 equations
     collect (output) = input;
 implementation_end;
-   Submodel3 344 480
+   Submodel3 352 480
     description '<Description><Version>4.0</Version>
    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
 <IsMainModel>1</IsMainModel>
@@ -1338,8 +1338,8 @@ Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(
 */
 parameters
 	real density = 1400 {kg/m3};
-	real dimension[3] = [0.005;0.01;0.065] {m};
-	real initial_position[2] = [0;0.0325] {m};
+	real dimension[3] = [0.005;0.065;0.01] {m};
+	real initial_position[2] = [0.0325;0] {m};
 	real initial_angle = 0 {rad};
 variables
 	real body_angle[3];
@@ -1357,8 +1357,8 @@ equations
 	body_angle = [angle;0;0];
 	position = int(velocity,initial_position);
 	body_position = [0; position[1];position[2]];
-	joint1=[0;-dimension[3]/2];
-	joint2=[0;dimension[3]/2];
+	joint1=[-dimension[2]/2;0];
+	joint2=[dimension[2]/2;0];
 	
  implementation_end;
    Submodel4 744 480
@@ -1391,8 +1391,8 @@ Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(
 */
 parameters
 	real density = 1400 {kg/m3};
-	real dimension[3] = [0.005;0.01;0.05] {m};
-	real initial_position[2] = [0.0;0.09] {m};
+	real dimension[3] = [0.005;0.05;0.01] {m};
+	real initial_position[2] = [0.09;0.0] {m};
 	real initial_angle = 0.0 {rad};
 variables
 	real body_angle[3];
@@ -1410,8 +1410,8 @@ equations
 	body_angle = [angle;0;0];
 	position = int(velocity,initial_position);
 	body_position = [0; position[1];position[2]];
-	joint1=[0;-dimension[3]/2];
-	joint2=[0;dimension[3]/2];
+	joint1=[-dimension[2]/2;0];
+	joint2=[dimension[2]/2;0];
 	
  implementation_end;
    TF 504 288
@@ -1901,8 +1901,8 @@ implementation_end;
      <SharedZAxis>false</SharedZAxis>
      <XAxes>
       <Axis>
-       <Minimum>-0.07410853798627151</Minimum>
-       <Maximum>0.0</Maximum>
+       <Minimum>-0.04357977129155497</Minimum>
+       <Maximum>0.09</Maximum>
        <Linear>true</Linear>
        <Scaling>3</Scaling>
        <Label>position[1]</Label>
@@ -1910,8 +1910,8 @@ implementation_end;
      </XAxes>
      <YAxes>
       <Axis>
-       <Minimum>-0.08</Minimum>
-       <Maximum>0.12000000000000001</Maximum>
+       <Minimum>-0.010000000000000004</Minimum>
+       <Maximum>0.09</Maximum>
        <Linear>true</Linear>
        <Scaling>1</Scaling>
        <Label>position[2]</Label>
@@ -1953,7 +1953,7 @@ implementation_end;
     <Plot>
      <PlotType>GraphPlot</PlotType>
      <BasePlot>
-       <PlotId>3</PlotId>
+       <PlotId>2</PlotId>
        <UseWindowsBGColor>false</UseWindowsBGColor>
        <BGColor>16777215</BGColor>
        <PlotIsVisible>true</PlotIsVisible>
@@ -2021,7 +2021,7 @@ implementation_end;
      <XAxes>
       <Axis>
        <Minimum>0.0</Minimum>
-       <Maximum>20.0</Maximum>
+       <Maximum>10.0</Maximum>
        <Linear>true</Linear>
        <Scaling>3</Scaling>
        <Label>time</Label>
@@ -2094,7 +2094,7 @@ implementation_end;
     <Plot>
      <PlotType>D3DPlot</PlotType>
      <BasePlot>
-       <PlotId>2</PlotId>
+       <PlotId>3</PlotId>
        <UseWindowsBGColor>false</UseWindowsBGColor>
        <BGColor>16777215</BGColor>
        <PlotIsVisible>true</PlotIsVisible>
@@ -2701,36 +2701,36 @@ implementation_end;
       <Name>Camera Looking at Origin</Name>
       <Position>
        <X>
-        <Value>3.40085013905783</Value>
+        <Value>3.38324006301254</Value>
        </X>
        <Y>
-        <Value>0.342236040003864</Value>
+        <Value>-0.579670639853894</Value>
        </Y>
        <Z>
-        <Value>1.21109282816646</Value>
+        <Value>1.16932529227831</Value>
        </Z>
       </Position>
       <Orientation>
        <ZAxis>
         <X>
-         <Value>-0.937843447259703</Value>
+         <Value>-0.932987163169101</Value>
         </X>
         <Y>
-         <Value>-0.0943775275033589</Value>
+         <Value>0.159854239065772</Value>
         </Y>
         <Z>
-         <Value>-0.33397986576198</Value>
+         <Value>-0.322461742869407</Value>
         </Z>
        </ZAxis>
        <YAxis>
         <X>
-         <Value>-0.332301512200796</Value>
+         <Value>-0.317830371400678</Value>
         </X>
         <Y>
-         <Value>-0.033440330791642</Value>
+         <Value>0.0544557676438669</Value>
         </Y>
         <Z>
-         <Value>0.942580208399057</Value>
+         <Value>0.946582497400847</Value>
         </Z>
        </YAxis>
        <OrientationType>Direct3D</OrientationType>
@@ -2997,11 +2997,11 @@ implementation_end;
          </X>
          <Y>
      <VariableName>Submodel3\dimension[2]</VariableName>
-     <Value>0.01</Value>
+     <Value>0.065</Value>
          </Y>
          <Z>
      <VariableName>Submodel3\dimension[3]</VariableName>
-     <Value>0.065</Value>
+     <Value>0.01</Value>
          </Z>
         </ScaleValue>
         <OverrideColor>true</OverrideColor>
@@ -3057,18 +3057,18 @@ implementation_end;
          </X>
          <Y>
      <VariableName>Submodel3\body_position[2]</VariableName>
-     <Value>-0.03102478766698046</Value>
+     <Value>-0.003324486493480361</Value>
          </Y>
          <Z>
      <VariableName>Submodel3\body_position[3]</VariableName>
-     <Value>-0.009583285900524256</Value>
+     <Value>0.0322803662779697</Value>
          </Z>
         </Position>
         <Orientation>
          <Angles>
      <X>
       <VariableName>Submodel3\body_angle[1]</VariableName>
-      <Value>1.8698917335338603</Value>
+      <Value>1.6732325429015287</Value>
      </X>
      <Y>
       <VariableName>Submodel3\body_angle[2]</VariableName>
@@ -3102,11 +3102,11 @@ implementation_end;
          </X>
          <Y>
      <VariableName>Submodel4\dimension[2]</VariableName>
-     <Value>0.01</Value>
+     <Value>0.05</Value>
          </Y>
          <Z>
      <VariableName>Submodel4\dimension[3]</VariableName>
-     <Value>0.05</Value>
+     <Value>0.01</Value>
          </Z>
         </ScaleValue>
         <OverrideColor>true</OverrideColor>
@@ -3162,18 +3162,18 @@ implementation_end;
          </X>
          <Y>
      <VariableName>Submodel4\body_position[2]</VariableName>
-     <Value>-0.070814832000755</Value>
+     <Value>0.01712950212216267</Value>
          </Y>
          <Z>
      <VariableName>Submodel4\body_position[3]</VariableName>
-     <Value>0.004242842205841144</Value>
+     <Value>0.07220095787584248</Value>
          </Z>
         </Position>
         <Orientation>
          <Angles>
      <X>
       <VariableName>Submodel4\body_angle[1]</VariableName>
-      <Value>0.3583520801537476</Value>
+      <Value>0.3105772067921056</Value>
      </X>
      <Y>
       <VariableName>Submodel4\body_angle[2]</VariableName>
@@ -3212,7 +3212,7 @@ implementation_end;
      <Tiling>0</Tiling>
      <PlotIds>
        <PlotId>1</PlotId>
-       <PlotId>3</PlotId>
+       <PlotId>2</PlotId>
      </PlotIds>
      <ToggleState>Base</ToggleState>
     </PlotPanel>
@@ -3222,17 +3222,17 @@ implementation_end;
      <Name>Window 2</Name>
      <Tiling>0</Tiling>
      <PlotIds>
-       <PlotId>2</PlotId>
+       <PlotId>3</PlotId>
      </PlotIds>
      <ToggleState>Base</ToggleState>
     </PlotPanel>
    </PlotPanels>
    <WindowRectangles virtualDesktopWidth="5760" virtualDesktopHeight="1080">
-     <WindowRectangle monitor="1" left="-1920" top="0" right="0" bottom="1080" plotpanelid="1">
-0.126562 0.0935185 0.909896 0.916667
+     <WindowRectangle monitor="2" left="1920" top="0" right="3840" bottom="1080" plotpanelid="1">
+0.125 0.0851852 0.904167 0.898148
      </WindowRectangle>
-     <WindowRectangle monitor="2" left="1920" top="0" right="3840" bottom="1080" plotpanelid="2">
-0.205729 0.141667 0.845833 0.835185
+     <WindowRectangle monitor="1" left="-1920" top="0" right="0" bottom="1080" plotpanelid="2">
+0.171354 0.140741 0.811458 0.834259
      </WindowRectangle>
    </WindowRectangles>
   </PlotSpecs>
@@ -3370,9 +3370,6 @@ implementation_end;
    <WriteFilename></WriteFilename>
    <DoWrite>false</DoWrite>
    <ExportVariables>
-     <ExportVariable>
-       <VariableName>time</VariableName>
-     </ExportVariable>
    </ExportVariables>
    <ImportVariables>
    </ImportVariables>
@@ -3380,7 +3377,7 @@ implementation_end;
   <BreakPoints>
   </BreakPoints>
   <AnimationPlayback>
-   <PlaybackSpeed>1.0</PlaybackSpeed>
+   <PlaybackSpeed>0.125</PlaybackSpeed>
   </AnimationPlayback>
 </ExpData>
   </Experiment>