Bang4SimPyLC with sequence and bang-bang control for SimPyLC

Here you can find the entire original SimPyLC project: https://github.com/QQuick/SimPyLC/

Bang4SimPyLC is just an an extension of SimPyLC for learning purposes.

Installation

Installation for Windows, Linux is described in: "SimPyLC_HowTo" https://github.com/QQuick/SimPyLC/blob/master/simpylc/simpylc_howto.pdf

Usage

1. Go to directory SimPyLC/simulations/one_armed_robot
2. Replace original file with "world.py" and "control.py" and add this "sequence.py"
3. Click on world.py (or run world.py from the command line) - requires Python 3.10 installed
4. Force the "go" bit in the "movement control window"
5. The one arm robot torso will then follow 3 predefined angles
6. "Reset" bit in the "sequence control window" repeats the whole sequence

Demo

Robot torso movement with simple bang-bang control without overshoot. But this version doesn't calculate the braking distance, as suggested in the "SimPyLC_HowTo" guide.

This bang-bang controller uses maximal acceleration to the halfway position, then does maximal deceleration until the goal is reached. And this is what it looks like:

https://github.com/JEGGEgit/Bang4SimPyLC/blob/main/demo/bang4simpylc1366x768.gif

Notes

The GUI operation as described (Mouse Wheel) didn't work for me. I'm running the simulation on Windows 10 64-bit (1511) with Python 3.10 32-bit.

And yes, in real life, I'm an old-school PLC programmer. I do simulations directly on the manufacturer's development environment, including Omron's Sysmac Studio.

But I also like Python and this concept of SimPyLC using Python with OpenGL visualisation.

Enjoy What You Do

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