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##

## PathSim testing of the 'Differentiator' block

##

#########################################################################################

# IMPORTS ===============================================================================

import numpy as np

import matplotlib.pyplot as plt

from pathsim import Simulation, Connection

from pathsim.blocks import (

Source,

Integrator,

Differentiator,

Adder,

Scope,

)

from pathsim.solvers import (

SSPRK33,

RKCK54

)

# TESTING INTEGRATOR AND DERIVATIVE =====================================================

#simulation timestep

dt = 0.02

#signal frequency

f = 1

omega = 2*np.pi*f

#blocks that define the system

Src = Source(lambda t: np.sin(omega*t))

Sri = Source(lambda t: -1/omega*np.cos(omega*t))

Srd = Source(lambda t: omega*np.cos(omega*t))

Int = Integrator(-1/omega)

Dif = Differentiator(f_max=100)

Sco = Scope(

labels=[

"sin",

"integrator",

"differentiator",

"reference integral",

"reference derivative"

]

)

blocks = [Src, Sri, Srd, Int, Dif, Sco]

#the connections between the blocks

connections = [

Connection(Src, Int, Dif, Sco[0]),

Connection(Int, Sco[1]),

Connection(Dif, Sco[2]),

Connection(Sri, Sco[3]),

Connection(Srd, Sco[4]),

]

#initialize simulation with the blocks, connections, timestep and logging enabled

Sim = Simulation(blocks, connections, dt=dt, log=True, Solver=RKCK54)

# Run Example ===========================================================================

if __name__ == "__main__":

#run the simulation for some time

Sim.run(20/f)

Sco.plot()

plt.show()