|
|
|
|
|
|
|
|
|
----------------------------------------------------------------------
|
|
|
|
FIGURE 2
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition()
|
|
fc = softMotion.Sm_Condition()
|
|
|
|
ic.a = -6
|
|
ic.v = -3
|
|
ic.x = 10.
|
|
fc.a = 8
|
|
fc.v = 8
|
|
fc.x = 10
|
|
|
|
|
|
#vmin vmax amin amax jmin jmax
|
|
limits = softMotion.Sm_Limits(-20, 20, -20, 20, -30, 30)
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawAV()
|
|
|
|
----------------------------------------------------------------------
|
|
|
|
|
|
FIGURE 3
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition()
|
|
fc = softMotion.Sm_Condition()
|
|
|
|
ic.a = -8
|
|
ic.v = -3
|
|
ic.x = 10.
|
|
fc.a = -12
|
|
fc.v = 5
|
|
fc.x = 10
|
|
|
|
|
|
#vmin vmax amin amax jmin jmax
|
|
limits = softMotion.Sm_Limits(-20, 20, -20, 20, -30, 30)
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawAV()
|
|
|
|
----------------------------------------------------------------------
|
|
|
|
|
|
FIGURE 4
|
|
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition()
|
|
fc = softMotion.Sm_Condition()
|
|
|
|
ic.a = 10
|
|
ic.v = 4
|
|
ic.x = 10.
|
|
fc.a = 10
|
|
fc.v = 6
|
|
fc.x = 10.
|
|
|
|
|
|
#vmin vmax amin amax jmin jmax
|
|
limits = softMotion.Sm_Limits(-20, 20, -20, 20, -30, 30)
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawAV()
|
|
|
|
|
|
----------------------------------------------------------------------
|
|
|
|
FIGURE 5
|
|
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition()
|
|
fc = softMotion.Sm_Condition()
|
|
|
|
ic.a = 8
|
|
ic.v = -5
|
|
ic.x = 10.
|
|
fc.a = 8
|
|
fc.v = 5
|
|
fc.x = 10
|
|
|
|
|
|
#vmin vmax amin amax jmin jmax
|
|
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -50, 50)
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawAV()
|
|
|
|
------------------------------------------------------------------------
|
|
|
|
FIGURE 6
|
|
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition()
|
|
fc = softMotion.Sm_Condition()
|
|
|
|
ic.a = 8
|
|
ic.v = -5
|
|
ic.x = 10.
|
|
fc.a = 8
|
|
fc.v = 5
|
|
fc.x = 10
|
|
|
|
|
|
#vmin vmax amin amax jmin jmax
|
|
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -50, 50)
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawTX()
|
|
|
|
----------------------------------------------------------------------
|
|
|
|
FIGURE 7
|
|
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition()
|
|
fc = softMotion.Sm_Condition()
|
|
|
|
ic.a = 8
|
|
ic.v = 10
|
|
ic.x = 10.
|
|
fc.a = 8
|
|
fc.v = 20
|
|
fc.x = 10
|
|
|
|
|
|
#vmin vmax amin amax jmin jmax
|
|
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -50, 50)
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawTX()
|
|
|
|
----------------------------------------------------------------------
|
|
|
|
FIGURE 8
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition()
|
|
fc = softMotion.Sm_Condition()
|
|
|
|
ic.a = 8
|
|
ic.v = 10
|
|
ic.x = 0
|
|
fc.a = 8
|
|
fc.v = 20
|
|
fc.x = 9.44920
|
|
|
|
#vmin vmax amin amax jmin jmax
|
|
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -50, 50)
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawVT()
|
|
|
|
# 9.44920 < Lambda > 9.44921
|
|
|
|
----------------------------------------------------------------------
|
|
|
|
FIGURE 9
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition()
|
|
fc = softMotion.Sm_Condition()
|
|
|
|
ic.a = 20
|
|
ic.v = -4.99
|
|
ic.x = 10.
|
|
fc.a = 20
|
|
fc.v = 4.99
|
|
fc.x = 10
|
|
|
|
#vmin vmax amin amax jmin jmax
|
|
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -40, 40)
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawTX()
|
|
|
|
----------------------------------------------------------------------
|
|
|
|
FIGURE 10
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition()
|
|
fc = softMotion.Sm_Condition()
|
|
|
|
ic.a = -39.0
|
|
ic.v = 17.205
|
|
ic.x = 0.
|
|
fc.a = -39.0
|
|
fc.v = -17.105
|
|
fc.x = -49.861304330903231
|
|
|
|
#vmin vmax amin amax jmin jmax
|
|
limits= softMotion.Sm_Limits(-40.0,70.0,-55.0,50.0,-40.0,50.0)
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawTX()
|
|
|
|
|
|
---------------------------------------------------------------------
|
|
|
|
|
|
FIGURE 11
|
|
|
|
execfile('./Sm_Plotter.py', globals(), locals())
|
|
|
|
ic = softMotion.Sm_Condition(20.9815, -83.4179, 0)
|
|
fc = softMotion.Sm_Condition(-20.6076, -79.5853, -213.683)
|
|
limits = softMotion.Sm_Limits(-90.9696, 25.1527, -20.9973, 20.9973, -2.02754, 29.7968)
|
|
|
|
myplotter = SmPlotter(limits,ic,fc)
|
|
myplotter.drawAV()
|
|
|
|
|
|
---------------------------------------------------------------------
|
|
|
|
|