# Inverted Pendulum Parameter File
import numpy as np
#import control as cnt

# Physical parameters of the inverted pendulum known to the controller
m1 = 0.25     # Mass of the pendulum, kg
m2 = 1.0      # Mass of the cart, kg
ell = 0.5    # Length of the rod, m
g = 9.8       # Gravity, m/s**2
b = 0.05      # Damping coefficient, Ns

# parameters for animation
w = 0.5       # Width of the cart, m
h = 0.15      # Height of the cart, m
gap = 0.005   # Gap between the cart and x-axis
radius = 0.06 # Radius of circular part of pendulum

# Initial Conditions
z0 = 0.0                # ,m
theta0 = 0.0*np.pi/180  # ,rads
# theta0 = 0.00001*np.pi/180  # ,rads
zdot0 = 0.0             # ,m/s
# zdot0 = 0.00001             # ,m/s
thetadot0 = 0.0         # ,rads/s

# Simulation Parameters
t_start = 0.0  # Start time of simulation
t_end = 30.0  # End time of simulation
Ts = 0.001  # sample time for simulation
t_plot = 0.1  # the plotting and animation is updated at this rate

# saturation limits
F_max = 5.0                # Max Force, N
