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dualwheel_launcher.html
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<!DOCTYPE html>
<meta content="text/html;charset=utf-8" http-equiv="Content-Type">
<meta content="utf-8" http-equiv="encoding">
<link rel="stylesheet" href="include/style.css">
<!-- Include relevant libraries -->
<script type="text/javascript" src="js/eclib.js"></script>
<script type="text/javascript" src="js/units.js"></script>
<script type="text/javascript" src="js/export.js"></script>
<script type="text/javascript" src="js/motors.js"></script>
<script type="text/javascript" src="js/plots.js"></script>
<script type="text/javascript" src="js/tolstack.js"></script>
<script type="text/javascript" src="js/walkthrough.js"></script>
<!-- Export library requires this script tag -->
<script id="EXP_inputs_frame" ></script>
<script type="text/javascript">
EXP_FN_BASE = 'dualpitch';
UNIT_MAP = {
'dim': ['mm', 'in'],
'mass': ['kg', 'lbm'],
'stiffness': ['N/m', 'lbf/in'],
'moi': ['kg mm^2', 'lbm in^2'],
'omega': ['RPM','RPM'],
'theta': ['deg','deg'],
'v': ['m/s','ft/s'],
'position': ['mm', 'in'],
'force': ['N', 'lbf'],
'torque': ['N', 'lbf'],
'kM': ['N-m/kRPM', 'in-lbf/kRPM'],
"pct": ["%", "%"]
};
WALK_STEPS = [{
poi: 'user_input_ball',
desc: 'Input details about the ball...',
valign: 'bottom',
halign: 'left'
},{
poi: 'user_input_wheel_L',
desc: 'Input details about the lower wheel...',
valign: 'bottom',
halign: 'middle'
},{
poi: 'user_input_wheel_U',
desc: 'And the upper wheel.',
valign: 'bottom',
halign: 'middle'
},{
poi: 'computed_outputs',
desc: 'Exit parameters are calculated.',
valign: 'bottom',
halign: 'right'
},{
poi: 'chart_launch',
desc: "The ball's journey through the shooter is plotted here."
},{
poi: 'chart_launch',
desc: 'Click on the plot for more details.'
},{
poi: 'toggle_tips_label',
desc: 'More notes are in this box, and tooltips.',
halign: 'right',
valign: 'bottom'
}];
</script>
<script type="text/javascript">
function init() {
EC_onload();
MOTOR_setupMotorSelect("motor_L");
MOTOR_setupMotorSelect("motor_U");
EXP_onload();
UNIT_change();
EC_setOnInput(function(e) {
var key = e.keyCode ? e.keyCode : e.which;
let input = e.target;
if(input.id.startsWith('toggle')) return; // ignore these, just css stuff
if (input.id.startsWith("G") && input.id.length == 5) {
calculateRatio('U');
calculateRatio('L');
}
if (input.id == "omega_0_L")
calculateRatio('L');
if (input.id == "omega_0_U")
calculateRatio('U');
if(key!=13) setError(1);
});
EC_setOnKeyUp(); // default handler OK
calculateRatio('L');
calculateRatio('U');
MOTOR_selectMotor('motor_L');
selectUpperMotor();
compute();
WALK_onload();
}
function computeLaunch(pp) {
let I_b = pp.moi_rat_b*pp.m_b*pp.w*pp.w/4;
let G_U = document.getElementById("motor_U_select").value == 'slave' ? pp.G_U : "free";
i=0;
u0 = -Math.sqrt((pp.d_U+pp.w)*(pp.d_L+pp.w)*(pp.d_b*(pp.d_b+pp.d_U+pp.d_L)-pp.w*(pp.d_U+pp.d_L+pp.w)))/(pp.d_U+pp.d_L+2*pp.w);
uf = -u0;
y0 = (pp.d_L*(pp.d_b+pp.d_U+pp.d_L) + 2*pp.w*(pp.w + pp.d_L + pp.d_U) - pp.d_b*pp.d_U)/2/(pp.d_U+pp.d_L+2*pp.w);
i_settled=NaN;
u=u0+pp.w*3e-2;
y=y0;
t=0;
v_b=0;
omega_b=0;
omega_U=pp.omega_0_U;
omega_L=pp.omega_0_L;
res = {
t: [0],
u: [0],
v_b: [0],
omega_b: [0],
omega_U: [omega_U],
omega_L: [omega_L],
N_U: [0],
N_L: [0],
F_U: [0],
F_L: [0]
};
dt = dt0 = 1e-2/Math.max(pp.omega_0_U, pp.omega_0_L);
matched_L = false; matched_U = false;
u_regain = 0;
retry = false;
while(i<10000 && u<uf) {
if (u > u_regain){
dt = dt0;
retry = false;
}
y = y0; // grumble grumble
psi = Math.atan2(u, (pp.d_L+pp.d_U)/2 + pp.w - y);
theta = Math.atan2(u, y);
R_U = Math.sqrt(u*u + Math.pow((pp.d_L+pp.d_U)/2 + pp.w - y, 2)) - pp.d_U/2;
R_L = Math.sqrt(u*u + y*y) - pp.d_L/2;
R_U = R_L = (R_U+R_L)/2; //GRUMBLE GRUMBLE
del_U = (pp.d_b)/2 - R_U;
del_L = (pp.d_b)/2 - R_L;
N_L = 2*pp.k_b*del_L;
N_U = 2*pp.k_b*del_U;
F_U = N_U * pp.mu_U;
F_L = N_L * pp.mu_L;
var A,B,C,D,E,F;
if (typeof G_U == 'string') {
A = (N_L*Math.sin(theta)+N_U*Math.sin(psi))*Math.cos(theta)/pp.m_b;
B = - Math.cos(psi)*Math.cos(theta)/pp.m_b + R_U*R_L/I_b;
C = - R_L*R_L/I_b - Math.cos(theta)*Math.cos(theta)/pp.m_b - pp.d_L*pp.d_L/4/pp.I_L;
D = (N_L*Math.sin(theta)+N_U*Math.sin(psi))*Math.cos(psi)/pp.m_b;
E = - Math.cos(psi)*Math.cos(theta)/pp.m_b + R_U*R_L/I_b;
F = - R_U*R_U/I_b - Math.cos(psi)*Math.cos(psi)/pp.m_b - pp.d_U*pp.d_U/4/pp.I_U;
} else {
// it's different when there's coupled flywheels
A = (N_L*Math.sin(theta)+N_U*Math.sin(psi))*Math.cos(theta)/pp.m_b;
B = - Math.cos(psi)*Math.cos(theta)/pp.m_b + R_U*R_L/I_b - (pp.d_U*pp.d_L)/4/G_U/(pp.I_L+pp.I_U/G_U/G_U);
C = - (pp.d_U*pp.d_U)/4/(pp.I_L + pp.I_U/G_U/G_U) - R_L*R_L/I_b - Math.cos(theta)*Math.cos(theta)/pp.m_b;
D = (N_L*Math.sin(theta)+N_U*Math.sin(psi))*Math.cos(psi)/pp.m_b;
E = - Math.cos(psi)*Math.cos(theta)/pp.m_b + R_U*R_L/I_b - (pp.d_U*pp.d_L)/4/G_U/(pp.I_L+pp.I_U/G_U/G_U);
F = - Math.cos(psi)*Math.cos(psi)/pp.m_b - R_U*R_U/I_b - (pp.d_U*pp.d_U)/4/(pp.I_L + pp.I_U/G_U/G_U) ;
}
if (matched_U){
F_U = (D+F_L*E)/(-F);
}
if (matched_L){
F_L = (A+F_U*B)/(-C);
}
if (matched_U && matched_L){
F_L = (A*F-B*D)/(B*E-C*F);
F_U = (C*D-A*E)/(B*E-C*F);
//if (isNaN(i_settled)) i_settled = i;
}
F_y = F_U*Math.sin(psi) - F_L*Math.sin(theta) - N_U*Math.sin(psi) + N_L*Math.sin(theta);
dv = N_L*Math.sin(theta) + F_L*Math.cos(theta)
+ N_U*Math.sin(psi) + F_L*Math.cos(psi);
domega_b = (F_L*R_L-F_U*R_U) / I_b;
v_b += dv*dt;
omega_b += domega_b*dt;
u += v_b*dt;
t += dt;
if (typeof G_U == 'string') {
domega_U = - F_U*pp.d_U/2 / pp.I_U;
domega_L = - F_L*pp.d_L/2 / pp.I_L;
omega_L += domega_L*dt;
omega_U += domega_U*dt;
} else {
domega_L = - F_L*pp.d_L/2 / (pp.I_L + pp.I_U/G_U/G_U) - F_U*pp.d_U/2/G_U / (pp.I_L + pp.I_U/G_U/G_U);
omega_L += domega_L*dt;
omega_U = omega_L/G_U;
}
if (!retry) {
if (!matched_U && v_b*Math.cos(psi) - omega_b*pp.w/2 > omega_U*R_U) {
retry = true;
}
if (!matched_L && v_b*Math.cos(theta) + omega_b*pp.w/2 > omega_L*R_L) {
retry = true;
}
if (retry) { // fuk go back, do it slower
u_regain = u;
v_b -= dv*dt;
omega_b -= domega_b*dt;
u -= v_b*dt;
t -= dt;
if (typeof G_U == 'string') {
omega_L -= domega_L*dt;
omega_U -= domega_U*dt;
} else {
omega_L -= domega_L*dt;
omega_U = omega_L/G_U;
}
dt = dt0/100;
continue; // do not write to result array, do not pass go, do not collect 200 dollars
}
} else {
if (v_b*Math.cos(theta) + omega_b*pp.w/2 > omega_L*R_L) {
matched_L = true;
retry = false;
}
if (v_b*Math.cos(psi) - omega_b*pp.w/2 > omega_U*R_U) {
matched_U = true;
retry = false;
}
}
res.t.push(t);
res.u.push(u-u0);
res.v_b.push(v_b);
res.omega_b.push(omega_b);
res.omega_U.push(omega_U);
res.omega_L.push(omega_L);
res.N_U.push(N_U);
res.N_L.push(N_L);
res.F_U.push(F_U);
res.F_L.push(F_L);
i+=1;
if (N_U <= 0 && N_L <= 0) break;
}
res.stats = {
v_b_exit: v_b,
omega_b_exit: omega_b,
omega_U_exit: omega_U,
omega_L_exit: omega_L,
i_settle: i_settled
}
return res;
}
let g = 9.81;
function compute() {
try{
if(document.getElementById('motor_U_select').value=="slave")
setV('omega_0_U', getV('omega_0_L')/getV('G_U'));
[extrema_vals, extrema] = TOLS_computeTolStack(computeLaunch,
['d_b', 'm_b', 'moi_rat_b', 'k_b', 'w',
'd_U', 'I_U', 'mu_U', 'omega_0_U',
'd_L', 'I_L', 'mu_L', 'omega_0_L', 'G_U'],
['v_b_exit', 'omega_b_exit', 'omega_L_exit', 'omega_U_exit']);
PLOT_drawLinePlot({
chartName: "chart_launch",
multiChannelBehavior: "merge2",
axes: {
x: {
numTicks: 10,
boxEnds: false,
negativeHandling: 'fitzero',
margin: 15
}, y: {
numTicks: 7,
boxEnds: true,
negativeHandling: 'fitzero',
margin: 5
}, z: {
syncWithY: true,
margin: 5
}
},
datasets: {
u: {axis: 'x'},
v_b: {axis: 'y'},
omega_b: {axis: 'y'},
omega_U: {axis: 'z'},
omega_L: {axis: 'z'}
},
queries: {
INDEX: {places: 0},
t: {},
u: {},
v_b: {},
omega_b: {},
omega_U: {},
omega_L: {},
N_U: {},
N_L: {},
F_U: {},
F_L: {}
}
},[
extrema.v_b_exit[0],
extrema.v_b_exit[1]
]);
for (stat of ['v_b_exit', 'omega_b_exit', 'omega_L_exit', 'omega_U_exit']) {
setV('output_'+stat, (extrema_vals[stat][1] + extrema_vals[stat][0])/2);
setV('output_'+stat+'_err', (extrema_vals[stat][1] - extrema_vals[stat][0])/2);
}
/*
setV('exit_v', (max_low_stat.v_b_exit + max_high_stat.v_b_exit)/2);
setV('exit_omega_b', (max_low_stat.omega_b_exit + max_high_stat.omega_b_exit)/2);
setV('exit_omega_U', (max_low_stat.omega_U_exit + max_high_stat.omega_U_exit)/2);
setV('exit_omega_L', (max_low_stat.omega_L_exit + max_high_stat.omega_L_exit)/2);
setV('exit_v_err', Math.abs(max_low_stat.v_b_exit - max_high_stat.v_b_exit)/2);
setV('exit_omega_b_err', Math.abs(max_low_stat.omega_b_exit - max_high_stat.omega_b_exit)/2);
setV('exit_omega_U_err', Math.abs(max_low_stat.omega_U_exit - max_high_stat.omega_U_exit)/2);
setV('exit_omega_L_err', Math.abs(max_low_stat.omega_L_exit - max_high_stat.omega_L_exit)/2);
*/
}catch(err){
console.log(err);
setError(2, err);
return;
}
setError(0);
EXP_dumpPersistence();
}
function calculateRatio(pos) {
setError(1);
var G = 1;
G *= getV("G1B_"+pos, 1);
G *= getV("G2B_"+pos, 1);
//G *= getV("G3B_"+pos, 1);
//G *= getV("G4B_"+pos, 1);
G /= getV("G1A_"+pos, 1);
G /= getV("G2A_"+pos, 1);
//G /= getV("G3A_"+pos, 1);
//G /= getV("G4A_"+pos, 1);
if (pos == 'U') {
if (document.getElementById('motor_U_select').value == 'slave') {
setV('omega_0_U', getV('omega_0_L')/G);
setV('omega_0_U_err', getV('omega_0_L_err', 0)/G);
}
}
setV("G_"+pos, G);
}
function selectUpperMotor() {
if (document.getElementById('motor_U_select').value == 'slave') {
document.getElementById('detail_motor_U').style.display = 'none';
document.getElementById('omega_0_U') .readOnly = true;
document.getElementById('omega_0_U_err').readOnly = true;
} else {
MOTOR_selectMotor('motor_U');
document.getElementById('detail_motor_U').style.display = '';
document.getElementById('omega_0_U') .readOnly = false;
document.getElementById('omega_0_U_err').readOnly = false;
}
}
</script>
<html>
<!-- Make sure to call your init function on document load -->
<!-- You can copy the topbar template here -->
<body onload="init()">
<div id="topbar">
<div class="topbar-la selectable" onclick="window.location='./'">EveryCalc</div>
<div class="topbar-la" id='topbar_version'></div>
<div class="topbar-la" id='topbar_filename'></div>
<div class="topbar-la" id='topbar_unit'>
<!-- Required for unit library. You could also put this in the calculator main body -->
<select id="unit_select" onchange="UNIT_change(); compute();">
<option value=0 >Metric</option>
<option value=1 selected="selected">English</option>
</select>
</div>
<div class="topbar-ctr" id="topbar_title">Hood and Wheel Pitcher</div>
<div class="topbar-ra selectable" id="topbar_status"><span></span><span class='ttt'></span></div>
<div class="topbar-ra selectable" onclick="downloadPage();" id="download">Export HTML</div>
<div class="topbar-ra selectable" onclick="printPage();">Print</div>
<div class="topbar-ra selectable" onclick="WALK_enable();">Tutorial</div>
<a id="download_frame" hidden></a>
</div>
<svg id="walkthrough_overlay" onclick="WALK_nextStep()" >
<path id="walkthrough_frame" ></path>
<text id="walkthrough_text" ></text>
<text id="walkthrough_skip_button" onclick="WALK_disable();">Skip Tutorial</text>
</svg>
<!-- From here go nuts, do whatever works for you. Use the container to keep stuff from spilling under topbar. I'll point out patterns to pay attention to. -->
<div style="width: 100%; float: left;" class="container">
<div style='display:table-row'>
<div class="odd" style='display:table-cell' id='user_input_ball'>
<table>
<tr>
<th class="rowlabel">Ball Diameter</th>
<td><input data-unit='dim' id="d_b" value=7></td><td class="tiny">+/-</td>
<td><input data-unit='dim' id="d_b_err" value=''></td>
<td class='unit' data-unit='dim' id='unit_d_b'></td>
</tr><tr>
<th class='rowlabel'>Ball Mass</th>
<td><input data-unit='mass' id='m_b' value=0.3><td class="tiny">+/-</td>
<td><input data-unit='mass' id='m_b_err' value=''></td>
<td class='unit' data-unit='mass' id='unit_m_b'></td>
</tr><tr>
<th class='rowlabel'>Ball MOI Ratio<span class="ttt">Ratio of MOI to mass times radius squared.<br/>2/5 for a solid sphere, 2/3 for a hollow sphere, 1/2 for a solid cylinder, 1 for a hollow cylinder.</span></th>
<td><input id='moi_rat_b' value='2/5'></td><td class="tiny">+/-</td>
<td><input id='moi_rat_b_err'></td>
<td class="unit">[-]</td>
</tr><tr>
<th class="rowlabel">Ball Stiffness<span class="ttt">Stiffness of the ball. This should be evaluated as a shock condition and near the amount of compression in the case of nonlinear balls (which, practically any ball will be)</span></th>
<td><input data-unit='stiffness' id="k_b" value=20></td><td class="tiny">+/-</td>
<td><input data-unit='stiffness' id="k_b_err" value=''></td>
<td class='unit' data-unit='stiffness' id='unit_k_b'></td>
</tr><tr>
<th class="rowlabel">Wheel Gap</th>
<td><input data-unit='dim' id="w" value=5></td><td class="tiny">+/-</td>
<td><input data-unit='dim' id="w_err" value=''></td>
<td class='unit' data-unit='dim' id='unit_w'></td>
</tr>
</table>
</div>
<div class="even" style='display:table-cell' id='user_input_wheel_L'>
<center>Bottom Wheel</center>
<table>
<tr>
<th class='rowlabel'>Wheel Diameter</th>
<td><input data-unit='dim' id='d_L' value=6></td><td class="tiny">+/-</td>
<td><input data-unit='dim' id='d_L_err' value=''></td>
<td class='unit' id='unit_d_L'></td>
</tr><tr>
<th class='rowlabel'>Wheel MOI</th>
<td><input data-unit='moi' id='I_L' value=4><td class="tiny">+/-</td>
<td><input data-unit='moi' id="I_L_err" value=''></td>
<td class='unit' data-unit='moi' ></td>
</tr><tr>
<th class="rowlabel">COF Wheel</th>
<td><input id="mu_L" value=1.0></td><td class="tiny">+/-</td>
<td><input id="mu_L_err" value=''></td>
<td class="unit">[-]</td>
</tr><tr>
<th class='rowlabel'>Flywheel Target Velocity</th>
<td><input data-unit='omega' id='omega_0_L' value=3000></td><td class="tiny">+/-</td>
<td><input data-unit='omega' id='omega_0_L_err' value=''></td>
<td class='unit' data-unit='omega' id='unit_omega_0_L'>[-]</td>
</tr>
</table>
<div>
<span class="rowlabel">Motor</span>
<select class="doublewide" id="motor_L_select" oninput="MOTOR_selectMotor('motor_L'); compute();"></select>
<!--<button type="button" onclick="collapse('motor')" id='toggle_detail_motor'>▼</button>-->
</div>
<table id='detail_motor_L'>
<tr>
<th class="rowlabel"># Motors<span class="ttt">How many motors do you have in total for this mechanism (assuming they're identical, and geared together)</span> </th>
<td><input class='' id="motor_L_count" oninput="MOTOR_selectMotor('motor_L'); compute();" value=1 /></td>
</tr><tr>
<th class="rowlabel">Efficiency<span class="ttt">Efficiency of the transmission</span></th>
<td><input data-unit="pct" id="motor_L_efficiency" oninput="MOTOR_selectMotor('motor_L'); compute();" value=85 /></td>
<td class="unit" data-unit="pct"></td>
</tr><tr>
<th class="rowlabel">Free Speed<span class="ttt">The maximum RPM of the motor</span></th>
<td><input data-unit='omega' id="motor_L_max_speed" readonly /></td>
<td class='unit' data-unit='omega'>[RPM]</td>
</tr><tr>
<th class="rowlabel">Stall Torque<span class="ttt">The maximum torque of the motor, occurring at 0 RPM</span></th>
<td><input data-unit='torque' id="motor_L_stall_torque" readonly /></td>
<td class='unit' data-unit='torque'>[N-m]</td>
</tr><tr>
<th class="rowlabel">Free Current<span class="ttt">The current drawn when the motor is unloaded</span></th>
<td><input id="motor_L_free_current" readonly /></td>
<td class="unit">[A]</td>
</tr><tr>
<th class="rowlabel">Stall Current<span class="ttt">The current drawn at 0 RPM / Max Torque</span></th>
<td><input id="motor_L_stall_current" readonly /></td>
<td class="unit">[A]</td>
</tr>
</table>
<div class="odd">
<span class='rowlabel'>Gear Ratio<span class="ttt">The overall gear ratio. Larger than 1 is a reduction, smaller is a RPM increase. Empty cells are assumed to be 1. You can either blank out all the cells, and plug in a number in the top right one, or build a ratio by typing in the number of teeth on each gear (or belts/sprockets) starting from the motor.</span></span>
<input id="G_L" readonly/>
<!--<button type="button" onclick="collapse('gratio')" id='toggle_detail_gratio'>▼</button>-->
</div>
<table id='detail_gratio'>
<tr>
<td><input id="G1A_L" oninput="calculateRatio('L')" /></td>
<td class="tiny">:</td>
<td><input id="G1B_L" oninput="calculateRatio('L')" value=1 /></td>
</tr><tr>
<td><input id="G2A_L" oninput="calculateRatio('L')" /></td>
<td class="tiny">:</td>
<td><input id="G2B_L" oninput="calculateRatio('L')" /></td>
</tr><!--<tr>
<td><input id="G3A_L" oninput="calculateRatio('L')" /></td>
<td class="tiny">:</td>
<td><input id="G3B_L" oninput="calculateRatio('L')" /></td>
</tr><tr>
<td><input id="G4A_L" oninput="calculateRatio('L')" /></td>
<td class="tiny">:</td>
<td><input id="G4B_L" oninput="calculateRatio('L')" /></td>
</tr>-->
</table>
</div>
<div class="odd" style='display:table-cell' id='user_input_wheel_U'>
<center>Top Wheel</center>
<table>
<tr>
<th class='rowlabel'>Wheel Diameter</th>
<td><input data-unit='dim' id='d_U' value=6></td><td class="tiny">+/-</td>
<td><input data-unit='dim' id='d_U_err' value=''></td>
<td class='unit' data-unit='dim' id='unit_d_U'></td>
</tr><tr>
<th class='rowlabel'>Wheel MOI</th>
<td><input data-unit='moi' id='I_U' value=4><td class="tiny">+/-</td>
<td><input data-unit='moi' id="I_U_err" value=''></td>
<td class='unit' data-unit='moi' id="unit_I_U"></td>
</tr><tr>
<th class="rowlabel">COF Wheel</th>
<td><input id="mu_U" value=1.0></td><td class="tiny">+/-</td>
<td><input id="mu_U_err" value=''></td>
<td class="unit">[-]</td>
</tr><tr>
<th class='rowlabel'>Flywheel Target Velocity</th>
<td><input data-unit='omega' id='omega_0_U' value=3000></td><td class="tiny">+/-</td>
<td><input data-unit='omega' id='omega_0_U_err' value=''></td>
<td class='unit' data-unit='omega' id='unit_omega_0_U'>[-]</td>
</tr>
</table>
<div>
<span class="rowlabel">Motor<span class="ttt">If geared to bottom, a positive number indicates spin in the reverse direction (wheels both propelling) while a negative indicates spin in the reverse direction (top wheel providing excess backspin)</span></span>
<select class="doublewide" id="motor_U_select" oninput="selectUpperMotor(); compute();">
<option value="slave">Geared to Bottom</option>
</select>
<!--<button type="button" onclick="collapse('motor')" id='toggle_detail_motor'>▼</button>-->
</div>
<table id='detail_motor_U'>
<tr>
<th class="rowlabel"># Motors<span class="ttt">How many motors do you have in total for this mechanism (assuming they're identical, and geared together)</span> </th>
<td><input class='' id="motor_U_count" oninput="selectUpperMotor(); compute();" value=1 /></td>
</tr><tr>
<th class="rowlabel">Efficiency<span class="ttt">Efficiency of the transmission</span></th>
<td><input data-unit="pct" id="motor_U_efficiency" oninput="selectUpperMotor(); compute();" value=85 /></td>
<td class="unit" data-unit="pct"></td>
</tr><tr>
<th class="rowlabel">Free Speed<span class="ttt">The maximum RPM of the motor</span></th>
<td><input data-unit='omega' id="motor_U_max_speed" readonly /></td>
<td class='unit' data-unit='omega'>[RPM]</td>
</tr><tr>
<th class="rowlabel">Stall Torque<span class="ttt">The maximum torque of the motor, occurring at 0 RPM</span></th>
<td><input data-unit='torque' id="motor_U_stall_torque" readonly /></td>
<td class='unit' data-unit='torque'>[N-m]</td>
</tr><tr>
<th class="rowlabel">Free Current<span class="ttt">The current drawn when the motor is unloaded</span></th>
<td><input id="motor_U_free_current" readonly /></td>
<td class="unit">[A]</td>
</tr><tr>
<th class="rowlabel">Stall Current<span class="ttt">The current drawn at 0 RPM / Max Torque</span></th>
<td><input id="motor_U_stall_current" readonly /></td>
<td class="unit">[A]</td>
</tr>
</table>
<div class="odd">
<span class='rowlabel'>Gear Ratio<span class="ttt">The overall gear ratio. Larger than 1 is a reduction, smaller is a RPM increase. Empty cells are assumed to be 1. You can either blank out all the cells, and plug in a number in the top right one, or build a ratio by typing in the number of teeth on each gear (or belts/sprockets) starting from the motor.</span></span>
<input id="G_U" readonly/>
<!--<button type="button" onclick="collapse('gratio')" id='toggle_detail_gratio'>▼</button>-->
</div>
<table id='detail_gratio'>
<tr>
<td><input id="G1A_U" oninput="calculateRatio('U')" /></td>
<td class="tiny">:</td>
<td><input id="G1B_U" oninput="calculateRatio('U')" value=1 /></td>
</tr><tr>
<td><input id="G2A_U" oninput="calculateRatio('U')" /></td>
<td class="tiny">:</td>
<td><input id="G2B_U" oninput="calculateRatio('U')" /></td>
</tr><!--<tr>
<td><input id="G3A_U" oninput="calculateRatio('U')" /></td>
<td class="tiny">:</td>
<td><input id="G3B_U" oninput="calculateRatio('U')" /></td>
</tr><tr>
<td><input id="G4A_U" oninput="calculateRatio('U')" /></td>
<td class="tiny">:</td>
<td><input id="G4B_U" oninput="calculateRatio('U')" /></td>
</tr>-->
</table>
</div>
<div class="output" style='display:table-cell' id='computed_outputs'>
<center><button type="button" onclick="compute()" id="compute_btn">Compute!</button></center>
<table> <!--['v_b_exit', 'omega_b_exit', 'omega_L_exit', 'omega_U_exit']-->
<tr>
<th class='rowlabel'>Exit Velocity</th>
<td><input data-unit='v' id='output_v_b_exit' readOnly></td><td class="tiny">+/-</td>
<td><input data-unit='v' id='output_v_b_exit_err' readOnly></td>
<td class='unit' data-unit='v' ></td>
</tr><tr>
<th class='rowlabel'>Exit Ball RPM</th>
<td><input data-unit='omega' id='output_omega_b_exit' readOnly></td><td class="tiny">+/-</td>
<td><input data-unit='omega' id='output_omega_b_exit_err' readOnly></td>
<td class='unit' data-unit='omega' ></td>
</tr><tr>
<th class="rowlabel">Exit Wheelspeed (Top)</th>
<td><input data-unit='omega' id="output_omega_U_exit" readOnly></td><td class="tiny">+/-</td>
<td><input data-unit='omega' id="output_omega_U_exit_err" readOnly></td>
<td class='unit' data-unit='omega' ></td>
</tr><tr>
<th class="rowlabel">Exit Wheelspeed (Bottom)</th>
<td><input data-unit='omega' id="output_omega_L_exit" readOnly></td><td class="tiny">+/-</td>
<td><input data-unit='omega' id="output_omega_L_exit_err" readOnly></td>
<td class='unit' data-unit='omega' ></td>
</tr><!--<tr>
<th class="rowlabel" colspan=3>Time to Revved</th>
<td><input id="t_rev_live" readOnly></td>
<td class="unit">[s]</td>
</tr><tr>
<th class="rowlabel" colspan=3>Current to Rev</th>
<td><input id="cur_cons_live" readOnly></td>
<td class="unit">[A-s]</td>
</tr><tr>
<th class="rowlabel" colspan=3>Time to Recover</th>
<td><input id="t_rev_dead" readOnly></td>
<td class="unit">[s]</td>
</tr><tr>
<th class="rowlabel" colspan=3>Current to Recover</th>
<td><input id="cur_cons_dead" readOnly></td>
<td class="unit">[A-s]</td>
</tr><tr>
<th class="rowlabel" colspan=3>Idle Current</th>
<td><input id="cur_idle" readOnly></td>
<td class="unit">[A]</td>
</tr>-->
</table>
</div>
<div class="even" style='display:table-cell'>
<input class="dropdown" type="checkbox" id="toggle_tips">
<label class="dropdown" for="toggle_tips" id="toggle_tips_label">Show Tips</label>
<div class="dropdown" style="width: 300px">
<p>The plot displays the run with the highest exit velocity, and lowest exit velocity.</p>
<p>Click on the plot to probe particular points for values.</p>
</div>
</div>
</div>
</div>
<style type="text/css">
.graph {
height: 500px;
width: 800px;
margin: 10px;
}
</style>
<div class="output-graph" style="margin-left: 0px; display:table-cell;" class="container" id="charts">
<div>
<div style="margin-left: 0px; display:table-cell;">
<center>Launch Simulation</center>
<svg version="1.2" class="plot" id='chart_launch' aria-labelledby="title" role="img" style="height:550px; width:900px;">
<rect class="plot-background" id="chart_launch_background" x=110 y=20 width=615 height=430 />
<g>
<line id="chart_launch_x_axis" class="plot-axis" x1=110 x2=725 y1=450 y2=450></line>
<line id="chart_launch_y_axis" class="plot-axis" x1=110 x2=110 y1=20 y2=450></line>
<line id="chart_launch_z_axis" class="plot-axis" x1=725 x2=725 y1=20 y2=450></line>
</g>
<g class="plot-grid" id="chart_launch_x_grid"></g>
<g class="plot-grid" id="chart_launch_y_grid"></g>
<g class="plot-grid" id="chart_launch_z_grid"></g>
<g class="plot-labels">
<text x="425" y=485 class="plot-titlelabel unit" data-unit="position" id="chart_launch_u_label">Position []</text>
<text x=-320 y=15 class="plot-titlelabel unit" data-unit="v" transform="rotate(270)" id="chart_launch_v_b_label" fill="#0074d9">Ball Velocity []</text>
<text x=-160 y=15 class="plot-titlelabel unit" data-unit="omega" transform="rotate(270)" id="chart_launch_omega_b_label" fill="#d91200">Ball Spin []</text>
<text x=-240 y=15 class="plot-titlelabel" transform="rotate(270)" id="chart_launch_y1_divider" fill="#111">/</text>
<text x=-300 y=830 class="plot-titlelabel unit" data-unit="omega" transform="rotate(270)" id="chart_launch_omega_L_label" fill="#c48900">Lower []</text>
<text x=-180 y=830 class="plot-titlelabel unit" data-unit="omega" transform="rotate(270)" id="chart_launch_omega_U_label" fill="#c49900">Upper []</text>
<text x=-240 y=830 class="plot-titlelabel" transform="rotate(270)" id="chart_launch_y1_divider" fill="#111">/</text>
<text x=-240 y=850 class="plot-titlelabel" transform="rotate(270)" id="chart_launch_y1_overall" fill="#111">Flywheel Speed</text>
</g>
<g class="plot-axlabels" id='chart_launch_x_axlabels'></g>
<g class="plot-axlabels" id='chart_launch_z_axlabels'></g>
<g class="plot-axlabels" id='chart_launch_y_axlabels'></g>
<g>
<line class="plot-querybar" id="chart_launch_querybar" x1=100 x2=100 y1=15 y2=455 opacity=0></line>
<line class="plot-markerbar" id="chart_launch_stable_line_1" x1=110 x2=110 y1=15 y2=455 opacity=0></line>
<line class="plot-markerbar" id="chart_launch_stable_line_2" x1=110 x2=110 y1=15 y2=455 opacity=0></line>
</g>
<polyline
id='chart_launch_v_b_line'
stroke='#0074d9'
fill='#0074d9'
fill-opacity=0.3
stroke-width=2
points="
"/>
<polyline
id='chart_launch_omega_b_line'
stroke='#d91200'
fill='#d91200'
fill-opacity=0.3
stroke-width=2
points="
"/>
<polyline
id='chart_launch_omega_L_line'
stroke='#c48900'
fill='#c48900'
stroke-width=2
fill-opacity=0.3
points="
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<polyline
id='chart_launch_omega_U_line'
stroke='#c49900'
fill='#c49900'
stroke-width=2
fill-opacity=0.3
points="
"/>
</svg>
<div class="output-plot" id="chart_launch_querytable" style="display:none;">
<table>
<tr>
<th class="rowlabel">Queried Position<span class="ttt">Query a position on the graph by clicking (and optionally dragging) a point. Position represented by a vertical bar.</span></th>
<td><input class='unit' data-unit='position' id="chart_launch_u_1" onkeyup="focus_handler(getV('chart_launch_u'), true);" /><input class='unit' data-unit='position' id="chart_launch_u_2" hidden /></td>
<td class='unit' data-unit='position' >[s]</td>
</tr><tr>
<th class="rowlabel">Time</th>
<td><input id="chart_launch_t_1" readonly /></td>
<td><input id="chart_launch_t_2" readonly /></td>
<td class="unit">[s]</td>
</tr><tr>
<th class="rowlabel">Timestep</th>
<td><input id="chart_launch_INDEX_1" readonly /></td>
<td><input id="chart_launch_INDEX_2" readonly /></td>
<td class="unit"></td>
</tr><tr>
<th class="rowlabel">Ball Velocity</th>
<td><input data-unit='v' id="chart_launch_v_b_1" readonly /></td>
<td><input data-unit='v' id="chart_launch_v_b_2" readonly /></td>
<td class='unit' data-unit='v' ></td>
</tr><tr>
<th class="rowlabel">Ball Spin</th>
<td><input data-unit='omega' id="chart_launch_omega_b_1" readonly /></td>
<td><input data-unit='omega' id="chart_launch_omega_b_2" readonly /></td>
<td class='unit' data-unit='omega' >[A]</td>
</tr><tr>
<th class="rowlabel">Top Speed</th>
<td><input data-unit='omega' id="chart_launch_omega_U_1" readonly /></td>
<td><input data-unit='omega' id="chart_launch_omega_U_2" readonly /></td>
<td class='unit' data-unit='omega' ></td>
</tr><tr>
<th class="rowlabel">Bottom Speed</th>
<td><input data-unit='omega' id="chart_launch_omega_L_1" readonly /></td>
<td><input data-unit='omega' id="chart_launch_omega_L_2" readonly /></td>
<td class='unit' data-unit='omega' ></td>
</tr><tr>
<th class="rowlabel">Top Normal</th>
<td><input data-unit='force' id="chart_launch_N_U_1" readonly /></td>
<td><input data-unit='force' id="chart_launch_N_U_2" readonly /></td>
<td class='unit' data-unit='force' ></td>
</tr><tr>
<th class="rowlabel">Top Force</th>
<td><input data-unit='force' id="chart_launch_F_U_1" readonly /></td>
<td><input data-unit='force' id="chart_launch_F_U_2" readonly /></td>
<td class='unit' data-unit='force' ></td>
</tr><tr>
<th class="rowlabel">Bottom Normal</th>
<td><input data-unit='force' id="chart_launch_N_L_1" readonly /></td>
<td><input data-unit='force' id="chart_launch_N_L_2" readonly /></td>
<td class='unit' data-unit='force' ></td>
</tr><tr>
<th class="rowlabel">Bottom Force</th>
<td><input data-unit='force' id="chart_launch_F_L_1" readonly /></td>
<td><input data-unit='force' id="chart_launch_F_L_2" readonly /></td>
<td class='unit' data-unit='force' ></td>
</tr>
</table>
</div>
<!--<div style="margin-left: 0px; display:table-cell;">
<center>Spin-Up Simulation</center>
<svg version="1.2" class="plot" id='chart_rev' aria-labelledby="title" role="img" style="height:550px; width:800px;">
<title id="title">Revving Simulation</title>
<rect class="plot-background" id="chart_rev_background" x=90 y=20 width=615 height=430 />
<g>
<line id="chart_rev_x_axis" class="plot-axis" x1=90 x2=705 y1=450 y2=450></line>
<line id="chart_rev_y_axis" class="plot-axis" x1=90 x2=90 y1=20 y2=450></line>
<line id="chart_rev_z_axis" class="plot-axis" x1=705 x2=705 y1=20 y2=450></line>
</g>
<g class="plot-grid" id="chart_rev_x_grid"></g>
<g class="plot-grid" id="chart_rev_y_grid"></g>
<g class="plot-grid" id="chart_rev_z_grid"></g>
<g class="plot-labels">
<text x="405" y=485 class="plot-titlelabel" id="chart_rev_t_label">Time [s]</text>
<text x=-240 y=15 class="plot-titlelabel" transform="rotate(270)" id="chart_rev_cur_label" fill="#d91200">Current Draw [A]</text>
<text x=-240 y=800 class="plot-titlelabel unit" data-unit="omega" transform="rotate(270)" id="chart_rev_omega_label" fill="#0074d9">Flywheel Speed [RPM]</text>
</g>
<g class="plot-axlabels" id='chart_rev_x_axlabels'></g>
<g class="plot-axlabels" id='chart_rev_z_axlabels'></g>
<g class="plot-axlabels" id='chart_rev_y_axlabels'></g>
<g>
<line class="plot-querybar" id="chart_rev_querybar" x1=100 x2=100 y1=15 y2=455 opacity=0></line>
<line class="plot-markerbar" id="chart_rev_stable_line_1" x1=110 x2=110 y1=15 y2=455 opacity=0></line>
<line class="plot-markerbar" id="chart_rev_stable_line_2" x1=110 x2=110 y1=15 y2=455 opacity=0></line>
</g>
<polyline
id='chart_rev_omega_line'
stroke='#0074d9'
fill=none
stroke-width=2
points="
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<polyline
id='chart_rev_cur_line'
stroke='#d91200'
fill=none
stroke-width=2
points="
"/>
</svg>
<div class="output-plot" id="chart_rev_querytable" style="display:none;">
<table>
<tr>
<th class="rowlabel">Queried Time<span class="ttt">Query a time on the graph by clicking (and optionally dragging) a point. Position represented by a vertical bar.</span></th>
<td><input id="chart_rev_t" /></td>
<td class="unit">[s]</td>
</tr><tr>
<th class="rowlabel">Timestep</th>
<td><input id="chart_rev_INDEX" readonly /></td>
<td class="unit"></td>
</tr><tr>
<th class="rowlabel">Flywheel Speed</th>
<td><input class='unit' data-unit='omega' id="chart_rev_omega" readonly /></td>
<td class='unit' data-unit='omega' >[RPM]</td>
</tr><tr>
<th class="rowlabel">Current</th>
<td><input id="chart_rev_cur" readonly /></td>
<td class="unit">[A]</td>
</tr>
</table>
</div>
</div>-->
</div>
</div>
</body>
</html>