refactor: Mechanical/translational.jl

Author: ven-k

src/Mechanical/Translational/Translational.jl

@@ -4,6 +4,7 @@ Library to model 1-dimensional, translational mechanical systems
 module Translational
 
 using ModelingToolkit, Symbolics
+using ModelingToolkit: getdefault
 
 using ModelingToolkitStandardLibrary.Blocks: RealInput, RealOutput
 using IfElse: ifelse

src/Mechanical/Translational/components.jl

@@ -7,14 +7,16 @@ Use to close a system that has un-connected `MechanicalPort`'s where the force s
 
   - `flange`: 1-dim. translational flange
 """
-@component function Free(; name)
-    @named flange = MechanicalPort()
-    vars = @variables f(t) = 0
-    eqs = [
-        flange.f ~ f,
-    ]
-    return compose(ODESystem(eqs, t, vars, []; name, defaults = [flange.v => 0]),
-        flange)
+@mtkmodel Free begin
+    @components begin
+        flange = MechanicalPort()
+    end
+    @variables begin
+        f(t) = 0
+    end
+    @equations begin
+        flange.f ~ f
+    end
 end
 
 """
@@ -26,11 +28,13 @@ Fixes a flange position (velocity = 0)
 
   - `flange`: 1-dim. translational flange
 """
-@component function Fixed(; name)
-    @named flange = MechanicalPort()
-    eqs = [flange.v ~ 0]
-    return compose(ODESystem(eqs, t, [], []; name = name, defaults = [flange.v => 0]),
-        flange)
+@mtkmodel Fixed begin
+    @components begin
+        flange = MechanicalPort()
+    end
+    @equations begin
+        flange.v ~ 0
+    end
 end
 
 """
@@ -190,26 +194,26 @@ Linear 1D translational damper
   - `flange_a`: 1-dim. translational flange on one side of damper
   - `flange_b`: 1-dim. translational flange on opposite side of damper
 """
-@component function Damper(; name, d, v_a_0 = 0.0, v_b_0 = 0.0)
-    pars = @parameters begin
-        d = d
-        v_a_0 = v_a_0
-        v_b_0 = v_b_0
+@mtkmodel Damper begin
+    @parameters begin
+        d
+        v_a_0 = 0.0
+        v_b_0 = 0.0
     end
-    vars = @variables begin
+    @variables begin
         v(t) = v_a_0 - v_b_0
         f(t) = 0.0
     end
 
-    @named flange_a = MechanicalPort()
-    @named flange_b = MechanicalPort()
+    @components begin
+        flange_a = MechanicalPort()
+        flange_b = MechanicalPort()
+    end
 
-    eqs = [v ~ flange_a.v - flange_b.v
+    @equations begin
+        v ~ flange_a.v - flange_b.v
         f ~ v * d
         flange_a.f ~ +f
-        flange_b.f ~ -f]
-    return compose(ODESystem(eqs, t, vars, pars; name = name,
-            defaults = [flange_a.v => v_a_0, flange_b.v => v_b_0]),
-        flange_a,
-        flange_b) #flange_a.f => +(v_a_0 - v_b_0)*d, flange_b.f => -(v_a_0 - v_b_0)*d
+        flange_b.f ~ -f
+    end
 end

src/Mechanical/Translational/sensors.jl

@@ -8,47 +8,45 @@ Linear 1D force input sensor.
   - `flange`: 1-dim. translational flange
   - `output`: real output
 """
-@component function ForceSensor(; name)
-    systems = @named begin
+@mtkmodel ForceSensor begin
+    @components begin
         flange = MechanicalPort()
         output = RealOutput()
     end
 
-    vars = pars = []
-    eqs = [
-        flange.f ~ -output.u,
-    ]
-
-    ODESystem(eqs, t, vars, pars; name, systems)
+    @equations begin
+        flange.f ~ -output.u
+    end
 end
 
 """
     PositionSensor(; s_0 = 0, name)
 
 Linear 1D position input sensor.
 
-# Parameters:
+# States:
 
-- `s_0`: [m] initial value of absolute position
+- `s`: [m] absolute position (with initial value of 0.0)
 
 # Connectors:
 
   - `flange`: 1-dim. translational flange
   - `output`: real output
 """
-@component function PositionSensor(; s_0 = 0, name)
-    systems = @named begin
+@mtkmodel PositionSensor begin
+    @components begin
         flange = MechanicalPort()
         output = RealOutput()
     end
 
-    pars = @parameters s_0 = s_0
-    vars = @variables s(t) = s_0
+    @variables begin
+        s(t) = 0.0
+    end
 
-    eqs = [D(s) ~ flange.v
+    @equations begin
+        D(s) ~ flange.v
         output.u ~ s
-        flange.f ~ 0]
+        flange.f ~ 0.0
+    end
 
-    ODESystem(eqs, t, vars, pars; name, systems,
-        defaults = [flange.v => 0, output.u => s_0])
 end

src/Mechanical/Translational/sources.jl

@@ -6,7 +6,7 @@ Linear 1D force input source
 # Connectors:
 
   - `flange`: 1-dim. translational flange
-  - `f`: real input 
+  - `f`: real input
 """
 @component function Force(; name)
     systems = @named begin
@@ -34,7 +34,7 @@ Linear 1D position input source
 # Connectors:
 
   - `flange`: 1-dim. translational flange
-  - `s`: real input 
+  - `s`: real input
 """
 @component function Position(solves_force = true; s_0 = 0, name)
     systems = @named begin

src/Mechanical/Translational/utils.jl

@@ -1,13 +1,6 @@
-@connector function MechanicalPort(; name, f_int = 0, v_int = 0)
-    pars = @parameters begin
-        f_int = f_int
-        v_int = v_int
-    end
-    vars = @variables begin
-        v(t) = v_int
-        f(t), [connect = Flow]
-    end
-    ODESystem(Equation[], t, vars, pars; name, defaults = [f => f_int])
+@connector MechanicalPort begin
+    v(t) = 0.0
+    f(t) = 0.0, [connect = Flow]
 end
 Base.@doc """
     MechanicalPort(;name)

test/Mechanical/translational.jl

@@ -11,7 +11,7 @@ D = Differential(t)
     function System(; name)
         systems = @named begin
             acc = TV.Acceleration(false)
-            a = Constant(k = -10)
+            a = Constant(; k = -10)
             mass = TV.Mass(; m = 100)
             free = TV.Free()
         end
@@ -119,8 +119,8 @@ end
 @testset "sources & sensors" begin
     function System(; name)
         systems = @named begin
-            pos = TV.Position(; s_0 = 0)
-            pos_sensor = TV.PositionSensor(; s_0 = 1)
+            pos = TV.Position(; s = 0)
+            pos_sensor = TV.PositionSensor(; s = 1)
             force = TV.Force()
             force_sensor = TV.ForceSensor()