Calculating motor movements without conditionals - math

I have a stepper motor that I am trying to move to a desired position. For simplicities sake, lets say that my motor takes 100 steps to complete a full rotation around. and that the motor shaft can only move in one direction. Is there an equation that takes in two numerical inputs, a desired position (expressed by positive integers 1-100) and the current position (expressed by a positive integer 1-100) and returns the amount the motor needs to move forward.
For example
CurrentPos 90 DesPos 60 Output 70
CurrentPos 20 DesPos 60 Output 40
CurrentPos 60 DesPos 60 Output 0

The answer has just occurred to me the equation (100+(desPos-CurrentPos))%100 will give the correct answer

Related

How to calculate steps needed for arrow to fill all given sectors of the clock?

the problem's data are:
Analog clock is dived into 512 even sections, arrow/handle starts its movement at 0° and each tick/step moves it by 4.01°. Arrow/Handle can move only clockwise. What minimum ticks/steps count is needed for arrow/handle to visit all sections of the clock.
I'm trying to write a formula to calculate the count but can't quite wrap my head around it.
Is it possible to do it? If yes, how can I do it?
This site is for programmers, isn't it?
So we can hire our silicon friend to work for us ;)
Full circle is 360*60*60*4=5184000 units (unit is a quarter of angular second)
One step is 4*(4*3600+36) = 57744 units
One section is 4*360*3600/512 = 10125 units (we use quarters to make this value integer)
cntr = set()
an = 0
step = 57744
div = 10125
mod = 5184000
c = 0
while len(cntr) < 512:
sec = (an % mod) // div
cntr.add(sec)
an += step
c += 1
print(c)
>>804
unfortunately I can`t fully answer your question but the following may help:
Dividing the 512 Sections into degree gives you 1,4222° each.
Each round you cover 90 different section when starting between 0°-3.11° and 89° when starting between 3.12°-4.00°
For starting the rounds this gives you a change in starting degree of 0.9° every round except after the fourth, where it is only 0.89°(within the possible range of 0°-4° so all calculated mod 4).
So you have 0.9°->1.8°->2.7°->3.6°->0.49->1.39°...0.08°...
I hope this helps you devloping an algorithm

Could someone explain this erlang function to round a number to a specific amount of decimal places?

round(Number, Precision) ->
Power = math:pow(10, Precision),
round(Pi * Power) / Power.
I can't for the life of me figure out how this function actually works.
First, you have a mistake in the function. It should be:
round(Number, Precision) ->
Power = math:pow(10, Precision),
round(Number * Power) / Power.
With Number = 10.23456 and Precision = 2, the line:
Power = math:pow(10, Precision)
results in:
Power = 10 * 10 = 100
And Number * Power is equal to:
10.23456 * 100
which is:
1023.456
Then, round(1023.456) is equal to:
1023
Dividing that number by Power, or 100, gives you:
10.23
The algorithm you are using works like this:
Move the number of decimal places you are interested in keeping to the left of the decimal point. If you want to keep one decimal place, you multiply the number by 10 (=> 102.3456); if you want to keep two decimal places, you multiply the number by 100 (=> 1023.456); if you want to keep 3 decimal places, you multiply the number by 1000 (=> 10234.56); etc.
Get rid of everything to the right of the decimal point using round().
Move the number of decimal places you wanted to keep back to the right of the decimal point.
So, if you have the number 10.23456 and you want to keep 1 decimal place, if you follow the steps in the algorithm you get:
102.3456
102
10.2
With the number 10.23456 and wanting to keep 2 decimal places, if you follow the steps in the algorithm you get:
1023.456
1023
10.23
With the number 10.23456 and wanting to keep 3 decimal places, if you follow the steps in the algorithm you get:
10234.56
10234
10.234

Determination of threshold values to group variable in ranges

I have, let's say, 60 empirical realizations of PPR. My goal is to create PPR vector with average values of empirical PPR. This average values depend on what upper and lower limit of TTM i take - so I can take TTM from 60 to 1 and calculate average and in PPR vector put this one average number from row 1 to 60 or I can calculate average value of PPR from TTT >= 60 and TTM <= 30 and TTM > 30 and TTM <= 1 and these two calculated numbers put in my vector accordingly to TTM values. Finaly I want to obtain something like this on chart (x-axis is TTM, green line is my empirical PPR and black line is average based on significant changes during TTM). I want to write an algorithm which will help me find the best TTM thresholds to fit the best black line to green line.
TTM PPR
60 0,20%
59 0,16%
58 0,33%
57 0,58%
56 0,41%
...
10 1,15%
9 0,96%
8 0,88%
7 0,32%
6 0,16%
Can you please help me if you know any statistical method which might be applicable in this case or base idea for an algorithm which I could implement in VBA/R ?
I have used Solver and GRG Nonlinear** to deal with it but I believe that there is something more proper to be utilized.
** with Solver I had the problem that it found optimal solution - ok, but I re-run Solver and it found me new solution (with a little bit different values of TTM) and value of target function was lower that on first time (so, was the first solution really optimal ?)
I think this is what you want. The next step would be including a method that can recognize the break points. I am sure you need to define two new parameters, one as the sensitivity and one as the minimum number of points in a sample to be accepted to be categorized as a section (between two break points including start and end point)
Please hit the checkmark next to this answer if you are happy with it.
You can download the Excel file from here:
http://www.filedropper.com/statisticspatternchange

Simple Steering Behaviour: Explain This Line

I am reading the book Programming Game AI by Example, and he gives code for
a steering behaviour which causes the entity to decelerate so that it arrives
gracefully at a target. After calculating dist, the distance from target to
source he then (essentially) does this
double speed = dist/deceleration;
I just cannot understand where this comes from however, am I just missing something
really obvious? It is not listed as a known error in the book so I am guessing it
is correct.
If there was some physical truth to this, the units would have match up on either side.
From what I understand, this is akin to Zeno's paradoxes where you are trying to reach something, but you never get there because you always only travel one nth of the remaining distance.
Suppose
the simulation proceeds at intervals of one second at a time.
deceleration = 5
distance = 1000 meters
With these initial conditions, speed will be set to 200 meters per second. Because the simulation proceeds at intervals of one second, we will travel exactly 200 meters (i.e. one fifth of the remaining distance), and end up at a distance of 800 meters from the target. The new speed is determined to be: 160 meters per second
Here is what happens in the first 30 seconds:
The last 30 seconds:
The last 10 seconds:
Observations
Within the first 30 seconds, we travel roughly 998 meters
Within the first 50 seconds, we cover 999.985 meters
Within the last 10 seconds, we cover only ~1.2cm
As you can see, you get almost there very quickly, but it takes a long time to get close.
Plots by WolframAlpha
Maybe there is something missing in your calculation. For a constant accelaration (or decelleration), and ignoring initial condictions, the speed is
v = a * t
and the distance is
d = a * t^2 / 2
If you eliminate t in both equations you get
v = a * sqrt(2 * d / a)

algorithm to traverse 3D coordinates without revisiting

Say we have a set of 3D (integer) coordinates from (0,0,0) to (100,100,100)
We want to visit each possible coordinate (100^3 possible coordinates to visit) without visiting each coordinate more than once.
The sum of the differences between each coordinate in adjacent steps cannot be more than 2 (I don't know if this is possible. If not, then minimized)
for example, the step from (0,2,1) to (2,0,0) has a total difference of 5 because |x1-x2|+|y1-y2|+|z1-z2| = 5
How do we generate such a sequence of coordinates?
for example, to start:
(0,0,0)
(0,0,1)
(0,1,0)
(1,0,0)
(1,0,1)
(0,0,2)
(0,1,1)
(0,2,0)
(1,1,0)
(2,0,0)
(3,0,0)
(2,0,1)
(1,0,2)
(0,0,3)
etc...
Anyone know an algorithm that will generate such a sequence to an arbitrary coordinate (x,y,z) where x=y=z or can prove that it is impossible for such and algorithm to exist? Thanks
Extra credit: Show how to generate such a sequence with x!=y!=z :D
One of the tricks (there are other approaches) is to do it one line [segment] at a time, one plane [square] at a time. Addressing the last part of the question, this approach works, even if the size of the volume visited is not the same in each dimension (ex: a 100 x 6 x 33 block).
In other words:
Start at (0,0,0),
move only on the Z axis till the end of the segment, i.e.
(0,0,1), (0,0,2), (0,0,3), ... (0,0,100),
Then move to the next line, i.e.
(0,1,100)
and come backward on the line, i.e.
(0,1,99), (0,1,98), (0,1,97), ... (0,1,0),
Next to the next line, going "forward"
And repeat till the whole "panel is painted", i.e ending at
... (0,100,99), (0,100,100),
Then move, finally, by 1, on the X axis, i.e.
(1,100,100)
and repeat on the other panel,but on this panel going "upward"
etc.
Essentially, each move is done on a single dimension, by exactly one. It is a bit as if you were "walking" from room to room in a 101 x 101 x 101 building where each room can lead to any room directly next to it on a given axis (i.e. not going joining diagonally).
Implementing this kind of of logic in a programming language is trivial! The only mildly challenging part is to deal with the "back-and-forth", i.e. the fact that sometimes, some of the changes in a given dimension are positive, and sometimes negative).
Edit: (Sid's question about doing the same diagonally):
Yes! that would be quite possible, since the problem states that we can have a [Manhattan] distance of two, which is what is required to go diagonally.
The path would be similar to the one listed above, i.e. doing lines, back-and-forth (only here lines of variable length), then moving to the next "panel", in the third dimension, and repeating, only going "upward" etc.
(0,0,0) (0,0,1)
(0,1,0) first diagonal, only 1 in lengh.
(0,2,0) "turn around"
(0,1,1) (0,0,2) second diagonal: 2 in length
(0,0,3) "turn around"
(0,1,2) (0,2,1) (0,3,0) third diagonal: 3 in length
(0,4,0) turn around
etc.
It is indeed possible to mix-and-match these approaches, both at the level of complete "panel", for example doing one diagonally and the next one horizontally, as well as within a given panel, for example starting diagonally, but when on the top line, proceeding with the horizontal pattern, simply stopping a bit earlier when looping on the "left" side, since part of that side has been handled with the diagonals.
Effectively this allows a rather big (but obviously finite) number of ways to "paint" the whole space. The key thing is to avoid leaving (too many) non painted adjacent area behind, for getting back to them may either bring us to a dead-end or may require a "jump" of more than 2.
Maybe you can generalize Gray Codes, which seem to solve a special case of the problem.
Seems trivial at first but once started, it is tricky! Especially the steps can be 1 or 2.
This is not an answer but more of a demostration of the first 10+ steps for a particular sequence which hopefully can help others to visualise. Sid, please let me know if the following is wrong:
s = No. of steps from the prev corrdinates
c1 = Condition 1 (x = y = z)
c2 = Condition 2 (x!= y!= z)
(x,y,z) s c1 c2
---------------
(0,0,0) * (start)
(0,0,1) 1
(0,1,0) 2
(1,0,0) 2
(1,0,1) 1
(1,1,0) 2
(1,1,1) 1 *
(2,1,1) 1
(2,0,1) 1 *
(2,0,0) 1
(2,1,0) 1 *
(2,2,0) 1
(2,2,1) 1
(2,2,2) 1 *
(2,3,2) 1
(2,3,3) 1
(3,3,3) 1 *
(3,3,1) 2
(3,2,1) 1 *
(3,2,0) 1 *
.
.
.

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