108 lines
3.6 KiB
Plaintext
108 lines
3.6 KiB
Plaintext
-- @server
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-- @include /koptilnya/libs/constants.txt
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-- @include ./wire_component.txt
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require('/koptilnya/libs/constants.txt')
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require('./wire_component.txt')
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Differential = class('Differential', WireComponent)
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function Differential:initialize(config, order)
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self.power = config.Power or 1
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self.coast = config.Coast or 1
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self.finalDrive = config.FinalDrive or 1
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self.preload = config.Preload or 10
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self.order = order or 1
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self.viscousCoeff = config.ViscousCoeff or 0.9
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self.usePowerBias = config.UsePowerBias or 10
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self.distributionCoeff = config.DistributionCoeff or 1
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self.maxCorrectingTorque = config.MaxCorrectingTorque or 200
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self.avgRPM = 0
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self.leftWheelInput = 'Axle' .. self.order .. '_LeftWheel'
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self.rightWheelInput = 'Axle' .. self.order .. '_RightWheel'
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self.leftWheel = wire.ports[self.leftWheelInput]
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self.rightWheel = wire.ports[self.rightWheelInput]
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hook.add('input', 'wire_axle_update' .. self.order, function(key, val)
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if key == self.leftWheelInput then
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self.leftWheel = val
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end
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if key == self.rightWheelInput then
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self.rightWheel = val
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end
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end)
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end
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function Differential:getInputs()
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local inputs = {}
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inputs[self.leftWheelInput] = 'entity'
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inputs[self.rightWheelInput] = 'entity'
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return inputs
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end
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function Differential:linkGearbox(gbox)
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self.gearbox = gbox
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end
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function Differential:update()
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if isValid(self.leftWheel) and isValid(self.rightWheel) then
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local lwav = math.rad(self.leftWheel:getAngleVelocity()[2])
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local rwav = math.rad(self.rightWheel:getAngleVelocity()[2]) * -1
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self.avgRPM = (lwav + rwav) / 2 * RAD_TO_RPM * self.finalDrive
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-- RAV = relative anglar velocity
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local lwrav = rwav - lwav
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local rwrav = lwav - rwav
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local lwInertia = self.leftWheel:getInertia():getLength()
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local rwInertia = self.rightWheel:getInertia():getLength()
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local lwtq = lwrav * lwInertia
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local rwtq = rwrav * rwInertia
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-- Calculating damping torque here
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local lwDampingTorque = self.viscousCoeff * lwtq
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local rwDampingTorque = self.viscousCoeff * rwtq
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-- Whether use diff power or diff coast
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local usePower = self.gearbox and self.gearbox.torque > self.usePowerBias or false
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local usedCoeff = usePower and self.power or self.coast
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local lwPowerCoeff = usedCoeff
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local rwPowerCoeff = usedCoeff
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-- this could probably be shortened?
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-- if lwtq - rwtq > self.preload then
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-- lwPowerCoeff = usedCoeff
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-- rwPowerCoeff = usedCoeff
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-- end
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-- if rwtq - lwtq > self.preload then
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-- lwPowerCoeff = usedCoeff
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-- rwPowerCoeff = usedCoeff
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-- end
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local lwCorrectingTorque = math.clamp(lwDampingTorque * lwPowerCoeff, -self.maxCorrectingTorque,
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self.maxCorrectingTorque)
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local rwCorrectingTorque = math.clamp(rwDampingTorque * rwPowerCoeff, -self.maxCorrectingTorque,
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self.maxCorrectingTorque)
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local gboxTorque = self.gearbox and self.gearbox.torque or 0
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local driveTorque = gboxTorque * self.distributionCoeff * 52.49 * self.finalDrive
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local lwCorrectedTorque = lwCorrectingTorque * 600 + driveTorque
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local rwCorrectedTorque = rwCorrectingTorque * 600 + driveTorque
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self.leftWheel:applyTorque(lwCorrectedTorque * -self.leftWheel:getRight() * TICK_INTERVAL)
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self.rightWheel:applyTorque(rwCorrectedTorque * self.rightWheel:getRight() * TICK_INTERVAL)
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end
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end
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