bouncing ball

prabinrath · Mar 24, 2022 · a07aff8 · a07aff8
1 parent b7593e3
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diff --git a/Legged Robotics/Bouncing-Ball/ball_dynamics.m b/Legged Robotics/Bouncing-Ball/ball_dynamics.m
@@ -0,0 +1,4 @@
+function yd = ball_dynamics(t,y)
+    yd = [y(2); -9.81];
+end
+
diff --git a/Legged Robotics/Bouncing-Ball/bouncing_ball.mlx b/Legged Robotics/Bouncing-Ball/bouncing_ball.mlx
diff --git a/Legged Robotics/Bouncing-Ball/contact.m b/Legged Robotics/Bouncing-Ball/contact.m
@@ -0,0 +1,6 @@
+function [position,isterminal,direction] = contact(t,y,ground)
+    position = y(1) - ground;
+    direction = -1;
+    isterminal = 1;
+end
+
diff --git a/Legged Robotics/Bouncing-Ball/one_bounce.m b/Legged Robotics/Bouncing-Ball/one_bounce.m
@@ -0,0 +1,5 @@
+function [tsim,ysim] = one_bounce(tstart,deltat,y0,ground)
+    options = odeset('Events',@(t,y) contact(t,y,ground));
+    [tsim,ysim] = ode45(@ball_dynamics,[tstart tstart+deltat],y0,options);    
+end
+
diff --git a/Legged Robotics/Double-Pendulum/int_double_pendulum.mlx b/Legged Robotics/Double-Pendulum/int_double_pendulum.mlx