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osrf / mbari_wec_gz

Simulation of wave energy harvesting buoy
Apache License 2.0
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Winding Current Limiter #131

Open andermi opened 1 year ago

andermi commented 1 year ago

Make use of the winding current limiter code in WindingCurrentTarget.hpp in the EHPTO plugin by connecting RamPosition to the actual piston position rather than constant 40 inches in ElectroHydraulicPTO.cpp line 222-223

from: https://github.com/osrf/buoy_sim/blob/0b03fbda0550234850d1aed838b5a3433df38f97/buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp#L222-L223

to:

this->dataPtr->functor.I_Wind.RamPosition = (2.03 - PistonPos) * buoy_utils::INCHES_PER_METER;

as well as in pc_commands_ros_feedback.cpp and pc_commands_ros_feedback_py.launch.py

and verify changes in plots in experiment_comparison.cpp

mabelzhang commented 1 year ago

From meeting: Not in backlog but not a priority for immediate next release