From 1e39b3b1e648d19d9e2f27c2414f8ee627d3b5ae Mon Sep 17 00:00:00 2001
From: cs-powell <142438185+cs-powell@users.noreply.github.com>
Date: Mon, 10 Feb 2025 18:37:52 -0500
Subject: [PATCH] control problem identified (not fixed): commands are not
 within -1 to 1 range for integral control

---
 Python3/src/cognitiveModel.py | 5 ++++-
 Python3/src/testPlatform.py   | 4 ++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/Python3/src/cognitiveModel.py b/Python3/src/cognitiveModel.py
index e292d99..8ae0a4b 100644
--- a/Python3/src/cognitiveModel.py
+++ b/Python3/src/cognitiveModel.py
@@ -7,6 +7,7 @@ import xpc
 class AircraftLandingModel(pyactr.ACTRModel):
     def __init__(self,client):
         super().__init__()
+
         # Initialize the declarative memory (DM)
         # self.decmem.add( 
         #     [
@@ -20,6 +21,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
         #         ("target_descent_rate", 500)  # Target descent rate (fpm)
         #     ]  
         # )
+
         self.client = client
         self.airspeed = 100
         self.roll = 0
@@ -72,7 +74,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
         yoke_steer, self.integral_roll = self.proportionalIntegralControl(self.roll, self.target_roll, self.integral_roll)
         rudder, self.integral_heading = self.proportionalIntegralControl(self.heading, self.target_heading, self.integral_heading)
         throttle, self.integral_descent_rate = self.proportionalIntegralControl(self.descent_rate, self.target_descent_rate, self.integral_descent_rate)
-
+        
         # Send all controls simultaneously to X-Plane
         self.send_controls_to_xplane(yoke_pull, yoke_steer, rudder, throttle)
 
@@ -81,6 +83,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
         Sends all control inputs to X-Plane using XPlaneConnect
         """
         # Send yoke pull, yoke steer, rudder, and throttle simultaneously
+        print("Yoke Pull:" + str(yoke_pull))
         self.client.sendCTRL([yoke_pull, yoke_steer, rudder, throttle, -998, -998])  # Control inputs: [yoke_pull, yoke_steer, rudder, throttle]
 
 
diff --git a/Python3/src/testPlatform.py b/Python3/src/testPlatform.py
index f923a67..0f782c7 100644
--- a/Python3/src/testPlatform.py
+++ b/Python3/src/testPlatform.py
@@ -97,8 +97,8 @@ def ex():
             #50 Millisecond Timesteps
             sleep(0.05)
             client.pauseSim(False) #Unpause
-            sleep(0.05) # Run 50 Milliseconds
-            client.pauseSim(True) # Pause Simulator
+            # sleep(0.05) # Run 50 Milliseconds
+            # client.pauseSim(True) # Pause Simulator
             #Run Model (Send commands to simulator within this process)
             ####Insert Model Here, some assembly required#######
             cogModel.update_aircraft_state()