iterative solution started

src/main/python/modeling/shooter_model.py

@@ -10,13 +10,19 @@ class VelocityVector():
   velocity: float  # Meters / Sec
 
 @dataclasses.dataclass
-class Position():
+class Point():
   x: float  # Meters
   y: float  # Meters
 
+  def add(self, other):
+    return Point(self.x + other.x, self.y + other.y)
+
+  def dist(self, other) -> float:
+    return math.sqrt(math.pow(self.x-other.x,2)+math.pow(self.y-other.y,2))
+
 
 class Model():
-  def __init__(self, rpos: Position, gpos: Position, rpm: float):
+  def __init__(self, rpos: Point, gpos: Point, rpm: float):
     self.rpos = rpos
     self.gpos = gpos
     self.rpm = rpm
@@ -35,25 +41,33 @@ def get_angle(self):
     b = gpos.x-rpos.x
     a = -(g/2)*(math.pow(b,2)/math.pow(vel,2))
     c = (rpos.y-gpos.y)+a
-    calculated_angle = math.atan((-b - math.sqrt(math.pow(b,2) - 4 * a * c))/(2 * a))
+    calculated_angle = math.atan((-b + math.sqrt(math.pow(b,2) - 4 * a * c))/(2 * a))
     return calculated_angle
 
-
-class ShooterModel:
-
-  def __init__(self, dt: int):
+class ProjectileMotion:
+  range = 85
+  def __init__(self, dt: float):
     self.dt = dt
+  def getPoints(self, initial_vel, angle, exitpoint: Point):
+    pos = [exitpoint]
+    for i in range(100):
+      if pos[-1].y < 0:
+        break
+
 
 
+class ShooterModel:
+  def __init__(self, dt: float):
+    self.dt = dt
   def graph_note(self, model: Model):
     rpos = model.rpos
     gpos = model.gpos
     angle = model.get_angle()
-    vel = Position(model.get_vel(model.rpm) * math.cos(angle), model.get_vel(model.rpm) * math.sin(angle))
+    vel = Point(model.get_vel(model.rpm) * math.cos(angle), model.get_vel(model.rpm) * math.sin(angle))
 
     print(angle * (180/math.pi))
 
-    note_position = [(0, rpos),(0, rpos)]
+    note_position = [rpos,rpos]
     note_velocity = [vel, vel]
 
 
@@ -64,16 +78,18 @@ def graph_note(self, model: Model):
       print(note_position)
       angle = math.atan2(note_position[-1].x - note_position[-2].x,note_position[-1].y - note_position[-2].y)
 
-      acceleration = Position((-0.0015*(math.pow(note_velocity[-1].x,2) + math.pow(note_velocity[-1].y,2)))*math.cos(angle),(-9.8)+(-0.0015*(math.pow(note_velocity[-1].x,2) + math.pow(note_velocity[-1].y,2))*math.sin(angle)))
-      velocity = Position(acceleration.x * self.dt + note_velocity[-2].x, acceleration.y * self.dt + note_velocity[-2].y)
-      position = Position(note_position[-2].x + velocity.x * self.dt, note_position[-2].y + velocity.y * self.dt)
+      acceleration = Point((-0.0015*(math.pow(note_velocity[-1].x,2) + math.pow(note_velocity[-1].y,2)))*math.cos(angle),(-9.8)+(-0.0015*(math.pow(note_velocity[-1].x,2) + math.pow(note_velocity[-1].y,2))*math.sin(angle)))
+      velocity = Point(acceleration.x * self.dt + note_velocity[-2].x, acceleration.y * self.dt + note_velocity[-2].y)
+      position = Point(note_position[-2].x + velocity.x * self.dt, note_position[-2].y + velocity.y * self.dt)
 
       note_velocity.append(velocity)
-      note_position.append((t, position))
+      note_position.append(position)
 
       if position.y < 0:
         break
 
+    for i in range(len(note_position)):
+      note_position[i] = (t,note_position[i])
 
     figure, axis = plt.subplots()
     axis.plot(np.array([pos[1].x for pos in note_position]),
@@ -87,8 +103,12 @@ def graph_note(self, model: Model):
 
     plt.show()
 
+goal = Point(3,1)
+
+robotPosition = Point(1,0)
+rpm = 3500
 
 
 robot_shooter = ShooterModel(0.02)
 
-robot_shooter.graph_note(Model(Position(1,0),Position(2,2),3500))
+robot_shooter.graph_note(Model(robotPosition,goal,rpm))