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WIP add stewart platform components #98

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WIP add stewart platform components #98

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27 changes: 20 additions & 7 deletions src/robot/robot_components.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -36,14 +36,27 @@ D = Differential(t)
ODESystem(Equation[], t, vars, []; name)
end

@connector function ControlBus(; name)

@connector function StewartAxisControlBus(; name)
vars = @variables begin
angularPos(t), [description = "Shaft absolute angle"]
angularVel(t), [description = "Shaft angular velocity"]
angularAcc(t), [description = "Shaft angular acceleration"]
refTorque(t), [description = "Reference value for the torque"]
appliedTorque(t), [description = "Applied torque"]
end
ODESystem(Equation[], t, vars, []; name)
end


@connector function ControlBus(; name, Axisbus = AxisControlBus)
systems = @named begin
axisControlBus1 = AxisControlBus()
axisControlBus2 = AxisControlBus()
axisControlBus3 = AxisControlBus()
axisControlBus4 = AxisControlBus()
axisControlBus5 = AxisControlBus()
axisControlBus6 = AxisControlBus()
axisControlBus1 = Axisbus()
axisControlBus2 = Axisbus()
axisControlBus3 = Axisbus()
axisControlBus4 = Axisbus()
axisControlBus5 = Axisbus()
axisControlBus6 = Axisbus()
end
ODESystem(Equation[], t; systems, name)
end
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