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mode(-1);
// Copyright ENPC
path=get_absolute_file_path("wheel.dem");
getf(path+'show.sci');
xbasc();
fs = get('figure_style');
set("figure_style","old")
flag1=tk_choose(['Reading a precomputed trajectory';
'Simulation with ode (needs f77 and link. may fail, see help link)'],...
'Simulation or Visualisation ? (click below)');
select flag1,
case 2 then
if ~(haveacompiler()) then
x_message(['Scilab doesn''t find a C compiler','This demo is disabled'])
else
mode(0);
wheel_build_and_load()
wheelg=wheelgf;
tmin=0.0;tmax=15;nn=300;
times=(0:(nn-1));
times=tmax*times/(nn-1) +tmin*((nn-1)*ones(times)-times);
// INITIAL CONDITIONS
x0=[0; //theta
%pi/2+0.1; //phi
0; //psi
5.0; //Dtheta
0.0; //Dphi
4.0; //Dpsi
0; //x
0]; //y
// SIMULATION
x=ode(x0,tmin,times,'wheel');
xselect();
xbasc();
show(x)
ystr=[ 'phi';'theta';'psi';'Dpsi';'Dtheta';'Dpsi';'x';'y'];
flag=2;
while flag==2, [n1,n2]=size(x);
flag=tk_choose(['Stop';'Go on'],'Choose');
if flag==2,x0=evstr(x_mdialog(['Initial conditions'],...
ystr,string(x(:,n2))));
x=ode(x0,tmin,times,'wheel');
xbasc();show(x);
end;
end
end
case 1 then // A precomputed value for
//x0=[0;%pi/2+0.1;0;5.0;0.0;4.0;0;0];
x=read(path+'/x.wrt',8,301);
wheelg=wheelgs;
show(x);
end
set('figure_style',fs);
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