From eb234f1c728698735d6886efb0eec27e8922601a Mon Sep 17 00:00:00 2001
From: Uwe Fechner <fechner@aenarete.eu>
Date: Wed, 11 Sep 2024 16:11:52 +0200
Subject: [PATCH] add plot_steering

---
 examples/plot_steering.jl | 67 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 67 insertions(+)
 create mode 100644 examples/plot_steering.jl

diff --git a/examples/plot_steering.jl b/examples/plot_steering.jl
new file mode 100644
index 00000000..6b37df89
--- /dev/null
+++ b/examples/plot_steering.jl
@@ -0,0 +1,67 @@
+using Printf
+using KiteModels, KitePodModels, KiteUtils
+
+set = deepcopy(load_settings("system.yaml"))
+
+set.abs_tol=0.0006
+set.rel_tol=0.00001
+
+# the following values can be changed to match your interest
+dt = 0.05
+set.solver="DFBDF" # IDA or DFBDF
+STEPS = 300
+PLOT = true
+FRONT_VIEW = false
+ZOOM = true
+PRINT = false
+STATISTIC = false
+# end of user parameter section #
+
+kcu::KCU = KCU(set)
+kps4::KPS4 = KPS4(kcu)
+
+if PLOT
+    using Pkg
+    if ! ("ControlPlots" ∈ keys(Pkg.project().dependencies))
+        using TestEnv; TestEnv.activate()
+    end
+    using ControlPlots
+end
+
+function simulate(integrator, steps, plot=false)
+    iter = 0
+    for i in 1:steps
+        if PRINT
+            lift, drag = KiteModels.lift_drag(kps4)
+            @printf "%.2f: " round(integrator.t, digits=2)
+            println("lift, drag  [N]: $(round(lift, digits=2)), $(round(drag, digits=2))")
+        end
+
+        KiteModels.next_step!(kps4, integrator; set_speed=0, dt)
+        iter += kps4.iter
+        
+        if plot
+            reltime = i*dt-dt
+            if mod(i, 5) == 1
+                plot2d(kps4.pos, reltime; zoom=ZOOM, front=FRONT_VIEW, segments=set.segments)                       
+            end
+        end
+    end
+    iter / steps
+end
+
+integrator = KiteModels.init_sim!(kps4;  delta=0.0, stiffness_factor=1, prn=STATISTIC)
+
+if PLOT
+    av_steps = simulate(integrator, STEPS, true)
+else
+    println("\nStarting simulation...")
+    simulate(integrator, 100)
+    runtime = @elapsed av_steps = simulate(integrator, STEPS-100)
+    println("\nTotal simulation time: $(round(runtime, digits=3)) s")
+    speed = (STEPS-100) / runtime * dt
+    println("Simulation speed: $(round(speed, digits=2)) times realtime.")
+end
+lift, drag = KiteModels.lift_drag(kps4)
+println("lift, drag  [N]: $(round(lift, digits=2)), $(round(drag, digits=2))")
+println("Average number of callbacks per time step: $av_steps")