double UNIFAQ::UNIFAQMixture::ln_gamma_R(const double tau, std::size_t i, std::size_t itau){
if (itau == 0) {
set_temperature(T_r / tau);
double summer = 0;
for (std::vector<UNIFAQLibrary::Group>::const_iterator it = unique_groups.begin(); it != unique_groups.end(); ++it) {
std::size_t k = it->sgi;
std::size_t count = group_count(i, k);
if (count > 0){
summer += count*(m_lnGammag.find(k)->second - pure_data[i].lnGamma.find(k)->second);
}
}
//printf("log(gamma)_{%d}: %g\n", i+1, summer);
return summer;
}
else {
double dtau = 0.01*tau;
return (ln_gamma_R(tau + dtau, i, itau - 1) - ln_gamma_R(tau - dtau, i, itau - 1)) / (2 * dtau);
}
}
void run(Par *par)
{
int i, itherm, nstep, istep, isamp, iblock, st;
int nsamp = par->nsamp, nblock = par->nblock;
char wfile[FNAMESIZE];
Vec *pos, *vel, *force;
double ekin, epot;
double v0[NV], v1[NV], v2[NV];
FILE *estream = NULL;
// Initialize
if (par->alpha > 0.0) {
printf("Seed for random number generator: %d.\n", par->seed);
init_ran(par->seed);
}
pos = malloc(par->n * sizeof(Vec));
force = malloc(par->n * sizeof(Vec));
vel = malloc(par->n * sizeof(Vec));
// Read from file...
if (par->readfile)
st = read_conf(par->n, pos, vel, par->readfile);
else {
init_pos(par->n, &par->L, pos);
set_temperature(par->n, par->t, vel);
}
// Get file name for writing to.
get_filename(par, wfile);
// Open file for writing energy results
estream = fopen_wfile("efile/", wfile);
if (!estream) return;
measure(par->n, &par->L, pos, vel, &epot, &ekin);
printf("Energy = %g \n", epot);
double test;
for(i=0; i<par->ntherm; i++) {
test = pos[5].x;
step(par, pos, vel, force);
if(test == pos[5].x)
printf("aha!\n");
}
//printf("rx ry vx vy = %g %g %g %g\n", pos[0].x, pos[0].y, vel[0].x, vel[0].y);
// Run and collect values
printf("\nSimulate %d blocks x %d samples each: ", par->nblock, par->nsamp);
fflush(stdout);
init_vcorr(par->n, par->deltat, 0.1, 5.0);
// Initialize for measuring a histogram of particle distances for
// distances up to 5.0 and bin size 0.02.
// init_pcorr(par->n, 0.02, 5.0);
for (i = 0; i < NV; i++) v1[i] = v2[i] = 0.0;
nstep = rint(1.0 / par->deltat);
for (iblock = 0; iblock < nblock; iblock++) {
for (i = 0; i < NV; i++) v0[i] = 0.0;
for (isamp = 0; isamp < nsamp; isamp++) {
for (istep = 0; istep < nstep; istep++) {
step(par, pos, vel, force);
measure_vcorr(par->n, vel);
}
// measure_pcorr(par->n, &par->L, pos);
measure(par->n, &par->L, pos, vel, &epot, &ekin);
if (estream) fprintf(estream, "%d %g\n", isamp + nsamp * iblock, epot + ekin);
v0[0] += epot;
//v0[1] += ekin;
//v0[2] += epot + ekin;
}
for (i = 0; i < NV; i++) {
v0[i] /= nsamp;
v1[i] += v0[i];
v2[i] += v0[i] * v0[i];
}
printf("%d ", iblock + 1); fflush(stdout);
}
printf("\n");
if (estream) fclose(estream);
for (i = 0; i < NV; i++) {
v1[i] /= nblock;
v2[i] /= nblock;
}
// Write configuration to the named file.
write_conf(par->n, pos, vel, "conf/", wfile);
// Write velocity correlation results to files.
write_vcorr(par->n, wfile);
// write_pcorr(par->n, wfile);
// Print out some results
printf("\n");
printf("v1: %.3f v2: %.3f nblock: %d \n",v1[0],v2[0],nblock);
print_standard_error("Potential E: ", v1[0], v2[0], nblock);
//print_standard_error("Kinetic E: ", v1[1], v2[1], nblock);
//print_standard_error("Total energy: ", v1[2], v2[2], nblock);
// From the virial theorem: pressure = N * T + Virial / Dimensionality
free(vel);
free(pos);
}
int main(int argc,char* argv[])
{
if(argc != 3)
{
printf("缺少参数：error!\n");
exit(0);
}
//*********打开串口并设置波特率*********
char *dev = (char*)argv[2]; //串口
int fd = OpenDev(dev); //打开串口函数
if(fd<0)
{
close(fd);
return FALSE;
}
int set_res=set_speed(fd,9600); //设置串口
if(set_res==FALSE)
{
close(fd);
return FALSE;
}
if (set_Parity(fd,8,1,'N') == FALSE)
{
close(fd);
return FALSE;
}
//***********从文件中读出指令***************
int temperature = atoi(argv[1]);
set_temperature(temperature);
//*********发送命令**************
int send_res = Send_order(fd,outcommand,24);
if(send_res==FALSE)
{
close(fd);
return FALSE;
}
char total_buff[1024];
int length = Recv_data(fd,total_buff);//读取串口数据
printf("接收数据长度为:%d\n",length);
int j;//显示接收到的字符
FILE *stream;
stream = fopen("receiveinfo","w+");
for (j = 0 ; j < length; j++)
{
printf("%02X ", total_buff[j]);
fprintf(stream, "%02X", total_buff[j]);
}
fclose(stream);
printf("\n");
close(fd);
return 0;
}
TCU_readings::TCU_readings(uint16_t throttle_value_1, uint16_t throttle_value_2, uint16_t brake_value, uint16_t temperature) {
set_throttle_value_1(throttle_value_1);
set_throttle_value_2(throttle_value_2);
set_brake_value(brake_value);
set_temperature(temperature);
}
// Yep, this is actually -*- c++ -*-
void init_extruder()
{
//reset motor1
motor1_control = MC_PWM;
motor1_dir = MC_FORWARD;
motor1_pwm = 0;
motor1_target_rpm = 0;
motor1_current_rpm = 0;
//reset motor2
motor2_control = MC_PWM;
motor2_dir = MC_FORWARD;
motor2_pwm = 0;
motor2_target_rpm = 0;
motor2_current_rpm = 0;
//free up 9/10
servo1.detach();
servo2.detach();
//init our PID stuff.
speed_error = 0;
iState = 0;
dState = 0;
pGain = SPEED_INITIAL_PGAIN;
iGain = SPEED_INITIAL_IGAIN;
dGain = SPEED_INITIAL_DGAIN;
temp_control_enabled = true;
#if TEMP_PID
temp_iState = 0;
temp_dState = 0;
temp_pGain = TEMP_PID_PGAIN;
temp_iGain = TEMP_PID_IGAIN;
temp_dGain = TEMP_PID_DGAIN;
temp_pid_update_windup();
#endif
//encoder pins are for reading.
pinMode(ENCODER_A_PIN, INPUT);
pinMode(ENCODER_B_PIN, INPUT);
//pullups on our encoder pins
digitalWrite(ENCODER_A_PIN, HIGH);
digitalWrite(ENCODER_B_PIN, HIGH);
//attach our interrupt handler
attachInterrupt(0, read_quadrature, CHANGE);
//setup our motor control pins.
pinMode(MOTOR_1_SPEED_PIN, OUTPUT);
pinMode(MOTOR_2_SPEED_PIN, OUTPUT);
pinMode(MOTOR_1_DIR_PIN, OUTPUT);
pinMode(MOTOR_2_DIR_PIN, OUTPUT);
//turn them off and forward.
digitalWrite(MOTOR_1_SPEED_PIN, LOW);
digitalWrite(MOTOR_2_SPEED_PIN, LOW);
digitalWrite(MOTOR_1_DIR_PIN, HIGH);
digitalWrite(MOTOR_2_DIR_PIN, HIGH);
//setup our various accessory pins.
pinMode(HEATER_PIN, OUTPUT);
pinMode(FAN_PIN, OUTPUT);
pinMode(VALVE_PIN, OUTPUT);
//turn them all off
digitalWrite(HEATER_PIN, LOW);
digitalWrite(FAN_PIN, LOW);
digitalWrite(VALVE_PIN, LOW);
//setup our debug pin.
pinMode(DEBUG_PIN, OUTPUT);
digitalWrite(DEBUG_PIN, LOW);
//default to zero.
set_temperature(0);
setupTimer1Interrupt();
}