xdot.py | Interactive viewer for graphs written in Graphviz's dot language | Data Visualization library

import tkinter as tk

# Main Window
window = tk.Tk()
window.geometry("700x700")


# Creating snake body
canvas = tk.Canvas(window, width=700, height=700)
canvas.pack()
bod1 = canvas.create_rectangle(0, 0, 25, 25, fill='red')


previous_key

from math import sqrt

class Vector():
    def __init__(self, x=0, y=0, z=0):
        self.x = x
        self.y = y
        self.z = z

    def __add__(self, v):
        x = self.x + v.x
        y = self.y + v.y
        z = self.z + v.z
  

from scipy.integrate import solve_ivp
def exponential_decay(t, y): return -0.5 * y 

sol = solve_ivp(exponential_decay, [0, 10], [2, 4, 8])

sol.t
>>> array([ 0.        ,  0.11487653,  1.26364188,  3.06061781,  4.81611105,
    6.5

def rk4(xold):
    k1 = EOM(xold)
    #this is a list of [p_dot,phi_dot]
    k2=EOM(xold[0]+dt/2*k1[0],xold[1]+dt/2*k1[1],) # trailing comma generates list
    k3=EOM([xold[0]+dt/2*k2[0],xold[1]+dt/2*k2[1]]) # or do it directly as list
   

y'' + c*y' + k*y = u(t)

u(t) = kD*e'(t) + kP*e(t) + kI*integral(e(t))

v(t)=y'(t)+c*y-kD*e(t). 

v'(t) = y''(t) + c*y'(t) - kD*e'(t) 
      = kP*e(t) + kI*E(t) - k*y(

ax   = u_in[0]
ay   = u_in[1]
az   = u_in[2]
p    = u_in[3]
q    = u_in[4]
r    = u_in[5]
pdot = u_in[6]
qdot = u_in[7]
rdot = u_in[8]

ax   = u_in[t, 0]
ay   = u_in[t, 1]
az   = u_in[t, 2]
p    = u_in[t, 3]
q    =