Tests.ManualGuidanceTests.rampStop

Parameters, inputs, outputs, defaults and equations from the source file.

function rampStop
    "Release one reference axis from the commanded speed and follow it to rest"
    input Boolean useSquareRootRamp
      "False selects the proportional law the ramp replaces";
    input Real samplePeriod(unit = "s");
    input Integer steps;
    output Real excursion "Most negative speed reached";
    output Real residual "Speed left at the end of the run";
  protected
    constant Real releaseSpeed = 5.0;
    constant Real accelerationLimit = 3.0;
    constant Real jerkLimit = 8.0;
    Real speed;
    Real acceleration;
    Real target;
    Real step;
  algorithm
    // One axis of the reference twist, released from the commanded speed with
    // the same acceleration and jerk bounds the manual source uses.
    speed := releaseSpeed;
    acceleration := 0.0;
    excursion := speed;
    for index in 1:steps loop
      target := if useSquareRootRamp then
          MathUtilities.clip(
            MathUtilities.squareRootRamp(
              -speed, 1.0 / samplePeriod, jerkLimit),
            -accelerationLimit, accelerationLimit)
        else
          MathUtilities.clip(
            -speed / samplePeriod, -accelerationLimit, accelerationLimit);
      step := MathUtilities.clip(
        target - acceleration,
        -jerkLimit * samplePeriod, jerkLimit * samplePeriod);
      acceleration := acceleration + step;
      speed := speed + acceleration * samplePeriod;
      excursion := min(excursion, speed);
    end for;
    residual := abs(speed);
  end rampStop;