G_Sim.py

import socket
import time
import matplotlib.pyplot as plt

def MoveTo(x,y,z):
    msg = str(x) + "," + str(y) + "," + str(z)
    Send(msg)

def Send(msg):
    client = socket.socket()
    client.connect(('localhost',9999))
    client.send(msg.encode())
    client.close()

# ALL UNITS ARE IN METERS

# Set fps
fps = 60
fdelay = 1/fps

# Set g (m/s*s)
G = -9.8
g = G*fdelay

yv = 3  # Initial y velocity (m/s)
y = 10  # Initial y pos
yBloss = 0.8    # Amount of Yvelocity that gets refected on bounce (0-1)

xv = 1  # Initial x velocity
x = 0   # Initial x pos
zv = 1  #Initial z velocity
z = 0   #Initial z pos
xzBloss=0.8  # Amount of X & Z velocity that remains on bounce (0-1)


zs = []
xs = []
ys = []

t = 0

while True:
    px = x
    pz = z
    x += xv  # changes x
    xs.append(x)
    z += zv  # changes z
    zs.append(z)

    yv += g
    y += (yv-(g/2)*fdelay) # changes y
    if y < 0:
        ys.append(0)
    else:
        ys.append(y)

    if y<0: # Reduces the yv,xv,zv and reflects yv on bounce (y<0)
        y = abs(y) 
        yv = abs(yv)*yBloss
        xv = abs(xv)*xzBloss
        zv = abs(xv)*xzBloss


    plt.clf()   #Plot print sequences
    plt.plot(xs, ys,color="red" ,label='Object')
    plt.xlabel('Distance')
    plt.ylabel('Hight')
    plt.title('G sim')


    plt.legend()
    plt.grid(True)

    if max(xs)>max(ys): # scales the graph so that it is always in a 1:1 ratio
        xy = max(xs) + 25
    else:
        xy = max(ys) + 25
    plt.xlim(0, xy)
    plt.ylim(0, xy)

    #plt.pause(0.00000001) #draws graph

    MoveTo(x, z, y)
    t += fdelay # time passed
    print(t) # prints time elapsed
    time.sleep(fdelay) #delay between frames

    #if x-px < 0.1:  # Sees if speed is less than 10cm/s
    #    time.sleep(7) #for how long the graph pauses after the Object 'Stops'
    #    break