test.py

import pytvc
import pytvc.core as core
from pytvc.core import simulation, rocket
from pytvc.physics import Vec3, Quat, TVC, rocket_motor, parachute, physics_body
from pytvc.control import PID, torque_PID
import numpy as np

# create the simulation object
sim: simulation = simulation(
    time_end=15.0,
    sim_wind=True,
    random_wind=True
)

# create our first rocket
rocket_1: rocket = rocket(
    name="rocket_1",
    log_values=True,
    do_aero=True,
    dry_mass=0.4,
    reference_area=0.0342,
    drag_coeff_forewards=0.37,
    drag_coeff_sideways=1.35,
    cp_location=Vec3(0.2855, 0.0, 0.0),
    friction_coeff=0.001,
    moment_of_inertia=(Vec3(0.0404, 0.0148202733120976, 0.0148202733120976))
)

def get_time() -> float:
    return np.random.normal(0, 1, 1)[0]

rocket_1.add_data_point("T", get_time)

# make a tvc mount for said rocket
tvc_1: TVC = TVC(
    name="tvc_1",
    log_data=True,
    speed=13.0,
    maxPosition=Vec3(0.0, 0.1, 0.1),
    minPosition=Vec3(0.0, -0.1, -0.1),
    noise=0.0005
)

PID_y: PID = PID(Kp=0.8, Ki=0.0, Kd=0.3)
PID_z: PID = PID(Kp=0.8, Ki=0.0, Kd=0.3)

@tvc_1.update_func
def tvc1_update():

    target_vector: Vec3 = Vec3(1.0, 0.0, 0.0)

    if sim.time > 0.5:
        target_vector.y += 0.1

    target_vector = rocket_1.body.rotation.conjugate().rotate(target_vector.normalize())

    rotVel = rocket_1.body.rotation.conjugate().rotate(rocket_1.body.rotational_velocity)

    PID_y.update(np.arctan2(-target_vector.z, target_vector.x), tvc_1.update_delay, rotVel.y)
    PID_z.update(np.arctan2(target_vector.y, target_vector.x), tvc_1.update_delay, rotVel.z)
    
    return Vec3(0.0, PID_y.getOutput(), PID_z.getOutput())

# motor for the mount
motor_1: rocket_motor = rocket_motor(
    filePath=pytvc.E12, timeStep=1000)

parachute_1: parachute = parachute(diameter=0.9)

@parachute_1.deploy_func
def parachute_1_deploy_func(position: Vec3, velocity: Vec3):
    
    if position.x < 20.0 and velocity.x < -1.0:
        return True
    else:
        return False

# add the motor to the mount
tvc_1.add_motor(motor_1)

# add the mount to the rocket
rocket_1.add_tvc_mount(tvc_mount=tvc_1, position=Vec3(-0.2, 0.0, 0.0))

# add the parachute to the rocket
rocket_1.add_parachute(parachute_1, Vec3(0.35, 0.0, 0.0))

# add the rocket to the sim
sim.add_rocket(rocket_1)

# set motor ignition time
motor_1.set_ignition_time(0.0)

if __name__ == "__main__":
    sim.run()