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use parent folder for FreeSurfaceHydrodynamics includes #156

Merged
merged 11 commits into from
Aug 31, 2023
Merged

use parent folder for FreeSurfaceHydrodynamics includes #156

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36c6b45
use parent folder for FreeSurfaceHydrodynamics includes
andermi Aug 9, 2023
ac7f755
piston force should be in Newtons rather than lbs
andermi Aug 29, 2023
fa62ad1
Merge branch 'andermi/fix_ehpto_force' into andermi/fix_fshydro_includes
andermi Aug 30, 2023
4227aa8
update CI to use fshydro lib 1.3.1
andermi Aug 30, 2023
308dd8c
add matrix_mode: False option to sim params yaml to allow vectorized …
andermi Aug 30, 2023
9ba7b4a
match atsea spring (#153)
andermi Aug 30, 2023
2c46b9b
Merge branch 'main' into andermi/fix_fshydro_includes
andermi Aug 31, 2023
0e7579d
increase pump absement
andermi Aug 31, 2023
9df5d2b
increase absement
andermi Aug 31, 2023
13e4a92
linters; cherry-picked from inc wave service branch
andermi Aug 31, 2023
ed756a2
Merge branch 'andermi/fix_fshydro_includes' of https://github.com/osr…
andermi Aug 31, 2023
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2 changes: 1 addition & 1 deletion .github/workflows/build-and-test.sh
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Expand Up @@ -38,7 +38,7 @@ rosdep init
rosdep update
rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO

git clone -b v1.3.0 --single-branch https://github.com/hamilton8415/FreeSurfaceHydrodynamics.git
git clone -b v1.3.1 --single-branch https://github.com/hamilton8415/FreeSurfaceHydrodynamics.git
cd FreeSurfaceHydrodynamics
touch COLCON_IGNORE
mkdir build
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51 changes: 34 additions & 17 deletions buoy_description/models/mbari_wec/model.sdf.em
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Expand Up @@ -148,17 +148,34 @@ m = m_hc + m_piston # total mass

Ap_u = 0.0127 # Area of piston in upper chamber
Ap_l = 0.0115 # Area of piston in lower
Vd_u = 0.0226 # Dead volume of upper
Vd_l = 0.0463 # Dead volume of lower
# TODO(andermi) unknown why 108.56 fudge factor is necessary
Vd_u = 0.0226 # 0.0172 # 0.0226 # Dead volume of upper
Vd_l = 0.0463 # 0.0546 # 0.0463 # Dead volume of lower
# TODO(andermi) unknown why fudge factor is necessary (prev 108.56)
c = 107.56*C(g, R_specific, T_ocean, rho, V_hc, m) # RHS of equation above

V0_u = 0.0338 # Volume setpoint from upper chamber polytropic PV curves
V0_l = 0.0537 # Volume setpoint from lower chamber polytropic PV curves
P0_u = 409962 # Pressure setpoint from upper PV
P0_l = 1211960 # Pressure setpoint from lower PV
T0_u = 273.15 # Tempurature setpoint for upper heat transfer
T0_l = 283.15 # Tempurature setpoint for lower heat transfer
# Check if upper_polytropic_params was passed in via empy
try:
upper_polytropic_params
except NameError:
upper_polytropic_params = [1.4309, 1.4367, 422156, 0.0397, 283.15]
(n1_u, # upper polytropic index for increasing volume
n2_u, # upper polytropic index for decreasing volume
P0_u, # Pressure (Pa) setpoint from upper PV
V0_u, # Volume (m^3) setpoint from upper chamber polytropic PV curves
T0_u # Temperature (K) setpoint for upper heat transfer
) = upper_polytropic_params

# Check if lower_polytropic_params was passed in via empy
try:
lower_polytropic_params
except NameError:
lower_polytropic_params = [1.3771, 1.3755, 1212098, 0.0661, 283.15]
(n1_l, # lower polytropic index for increasing volume
n2_l, # lower polytropic index for decreasing volume
P0_l, # Pressure (Pa) setpoint from lower PV
V0_l, # Volume (m^3) setpoint from lower chamber polytropic PV curves
T0_l # Temperature (K) setpoint for lower heat transfer
) = lower_polytropic_params

ignore_piston_mean_pos = False
if not ignore_piston_mean_pos:
Expand Down Expand Up @@ -215,10 +232,10 @@ if not ignore_piston_mean_pos:
<R_specific>0.2968</R_specific>
<c_p>1.04</c_p>
<hysteresis>true</hysteresis>
<velocity_deadzone_lower>-0.10</velocity_deadzone_lower>
<velocity_deadzone_upper>0.05</velocity_deadzone_upper>
<n1>1.1084</n1>
<n2>1.1445</n2>
<velocity_deadzone_lower>-0.005</velocity_deadzone_lower>
<velocity_deadzone_upper>0.005</velocity_deadzone_upper>
<n1>@(n1_u)</n1>
<n2>@(n2_u)</n2>
<V0>@(V0_u)</V0>
<P0>@(print(f'{P0_u:.00f}', end=''))</P0>
</plugin>
Expand All @@ -240,10 +257,10 @@ if not ignore_piston_mean_pos:
<R_specific>0.2968</R_specific>
<c_p>1.04</c_p>
<hysteresis>true</hysteresis>
<velocity_deadzone_lower>-0.10</velocity_deadzone_lower>
<velocity_deadzone_upper>0.05</velocity_deadzone_upper>
<n1>1.1079</n1>
<n2>1.1332</n2>
<velocity_deadzone_lower>-0.005</velocity_deadzone_lower>
<velocity_deadzone_upper>0.005</velocity_deadzone_upper>
<n1>@(n1_l)</n1>
<n2>@(n2_l)</n2>
<V0>@(V0_l)</V0>
<P0>@(print(f'{P0_l:.00f}', end=''))</P0>
</plugin>
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