guadaloop_lev_control/lev_sim/mag_lev_coil.py

# The following was generated by AI - see [17]
class MagLevCoil:
    def __init__(self, r_resistance, l_inductance, source_voltage, maxCurrent):
        self.R = r_resistance
        self.L = l_inductance
        self.current = 0.0
        self.Vs = source_voltage
        self.Imax = maxCurrent
    
    def update(self, pwm_duty_cycle, dt):
        """
        Simulates the coil circuit and force generation.
        pwm_duty_cycle: -1.0 to 1.0
        """
        # Simple First-order RL circuit approximation
        # V_in = Duty * V_source
        voltage = pwm_duty_cycle * self.Vs
        
        # di/dt = (V - I*R) / L
        di = (voltage - self.current * self.R) / self.L
        self.current += di * dt
        self.current = min(max(-self.Imax, self.current), self.Imax)
        
        return self.current