extended the motor types and fixed the issues with examples

examples/classic_controllers/classic_controllers.py

@@ -136,7 +136,7 @@ def reference_states(environment, **controller_kwargs):
     def find_controller_type(environment, stages, **controller_kwargs):
         _stages = stages
 
-        if isinstance(environment.physical_system.unwrapped, DcMotorSystem):
+        if isinstance(environment.unwrapped.physical_system, DcMotorSystem):
             if type(stages) is list:
                 if len(stages) > 1:
                     if type(stages[0]) is list:
@@ -413,24 +413,24 @@ def automated_gain(environment, stages, controller_type, _controllers, **control
                             _controllers[stages_a[i][0]["controller_type"]][1] == ContinuousController
                         ):  # had to add [0] to make dict in list acessable
                             if i == 0:
-                                p_gain = mp["l"] / (environment.physical_system.tau * a) / u_a_lim * i_a_lim
-                                i_gain = p_gain / (environment.physical_system.tau * a**2)
+                                p_gain = mp["l"] / (environment.unwrapped.physical_system.tau * a) / u_a_lim * i_a_lim
+                                i_gain = p_gain / (environment.unwrapped.physical_system.tau * a**2)
 
                                 if _controllers[stages_a[i][0]["controller_type"]][2] == PIDController:
-                                    d_gain = p_gain * environment.physical_system.tau
+                                    d_gain = p_gain * environment.unwrapped.physical_system.tau
                                     stages_a[i][0]["d_gain"] = stages_a[i][0].get("d_gain", d_gain)
 
                             elif i == 1:
-                                t_n = environment.physical_system.tau * a**2
+                                t_n = environment.unwrapped.physical_system.tau * a**2
                                 p_gain = (
-                                    environment.physical_system.mechanical_load.j_total
+                                    environment.unwrapped.physical_system.mechanical_load.j_total
                                     / (a * t_n)
                                     / i_a_lim
                                     * omega_lim
                                 )
                                 i_gain = p_gain / (a * t_n)
                                 if _controllers[stages_a[i][0]["controller_type"]][2] == PIDController:
-                                    d_gain = p_gain * environment.physical_system.tau
+                                    d_gain = p_gain * environment.unwrapped.physical_system.tau
                                     stages_a[i][0]["d_gain"] = stages_a[i][0].get("d_gain", d_gain)
 
                             stages_a[i][0]["p_gain"] = stages_a[i][0].get("p_gain", p_gain)  # ?

examples/classic_controllers/classic_controllers_dc_motor_example.py

@@ -2,6 +2,7 @@
 from externally_referenced_state_plot import ExternallyReferencedStatePlot
 
 import gym_electric_motor as gem
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
 from gym_electric_motor.visualization import MotorDashboard
 from gym_electric_motor.visualization.render_modes import RenderMode
 
@@ -20,28 +21,27 @@
                     'Finite'    Discrete Action Space
     """
 
+    """
     motor_type = "PermExDc"
     control_type = "TC"
     action_type = "Cont"
+    """
 
-    motor = action_type + "-" + control_type + "-" + motor_type + "-v0"
 
-    if motor_type in ["PermExDc", "SeriesDc"]:
-        states = ["omega", "torque", "i", "u"]
-    elif motor_type == "ShuntDc":
-        states = ["omega", "torque", "i_a", "i_e", "u"]
-    elif motor_type == "ExtExDc":
-        states = ["omega", "torque", "i_a", "i_e", "u_a", "u_e"]
-    else:
-        raise KeyError(motor_type + " is not available")
+    motor = Motor(
+        MotorType.PermanentlyExcitedDcMotor,
+        ControlType.TorqueControl,
+        ActionType.Continuous,
+    )
+
 
     # definition of the plotted variables
-    external_ref_plots = [ExternallyReferencedStatePlot(state) for state in states]
+    external_ref_plots = [ExternallyReferencedStatePlot(state) for state in motor.states()]
 
     motor_dashboard = MotorDashboard(additional_plots=external_ref_plots, render_mode=RenderMode.Figure)
     # initialize the gym-electric-motor environment
     env = gem.make(
-        motor,
+        motor.env_id(),
         visualization=motor_dashboard,
     )
     """

examples/classic_controllers/classic_controllers_ind_motor_example.py

@@ -1,7 +1,9 @@
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
 from classic_controllers import Controller
 from externally_referenced_state_plot import ExternallyReferencedStatePlot
 from external_plot import ExternalPlot
 import gym_electric_motor as gem
+
 from gym_electric_motor.visualization import MotorDashboard
 from gym_electric_motor.physical_system_wrappers import FluxObserver
 import numpy as np
@@ -16,27 +18,33 @@
 
         action_type:    'AbcCont'      Continuous Action Space
     """
-
+    """
     motor_type = "SCIM"
     control_type = "TC"
     action_type = "Cont"
+    """
 
-    env_id = action_type + "-" + control_type + "-" + motor_type + "-v0"
+    motor = Motor(
+        MotorType.SquirrelCageInductionMotor,
+        ControlType.TorqueControl,
+        ActionType.Continuous,
+    )
 
     # definition of the plotted variables
     states = ["omega", "torque", "i_sd", "i_sq", "u_sd", "u_sq"]
-    external_ref_plots = [ExternallyReferencedStatePlot(state) for state in states]
+    external_ref_plots = [ExternallyReferencedStatePlot(state) for state in motor.states()]
     external_plot = [
-        ExternalPlot(referenced=control_type != "CC"),
+        ExternalPlot(referenced= ControlType.TorqueControl != "CC"),
         ExternalPlot(min=-np.pi, max=np.pi),
     ]
     external_ref_plots += external_plot
 
+    motor_dashboard = MotorDashboard(state_plots=("omega", "psi_abs", "psi_angle"))
     # initialize the gym-electric-motor environment
     env = gem.make(
-        env_id,
+        motor.env_id(),
         physical_system_wrappers=(FluxObserver(),),
-        visualization=MotorDashboard(state_plots=("omega", "psi_abs", "psi_angle")),
+        visualization=MotorDashboard(),
     )
 
     """
@@ -60,4 +68,5 @@
         if terminated:
             env.reset()
             controller.reset()
+    motor_dashboard.show_and_hold()    
     env.close()

examples/classic_controllers/classic_controllers_synch_motor_example.py

@@ -1,3 +1,4 @@
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
 from classic_controllers import Controller
 from externally_referenced_state_plot import ExternallyReferencedStatePlot
 import gym_electric_motor as gem
@@ -16,22 +17,28 @@
         action_type:    'Cont'   Continuous Action Space in ABC-Coordinates
                         'Finite'    Discrete Action Space
     """
-
+
+    """
     motor_type = "PMSM"
     control_type = "TC"
     action_type = "Cont"
+     """
 
-    env_id = action_type + "-" + control_type + "-" + motor_type + "-v0"
+    motor = Motor(
+        MotorType.PermanentMagnetSynchronousMotor,
+        ControlType.TorqueControl,
+        ActionType.Continuous
+        )
 
     # definition of the plotted variables
     external_ref_plots = [
-        ExternallyReferencedStatePlot(state)
-        for state in ["omega", "torque", "i_sd", "i_sq", "u_sd", "u_sq"]
+        ExternallyReferencedStatePlot(state) for state in ["omega", "torque", "i_sd", "i_sq", "u_sd", "u_sq"]
     ]
 
+    motor_dashboard = MotorDashboard(additional_plots=external_ref_plots)
     # initialize the gym-electric-motor environment
     env = gem.make(
-        env_id, visualization=MotorDashboard(additional_plots=external_ref_plots)
+        motor.env_id(), visualization=motor_dashboard
     )
 
     """
@@ -64,5 +71,6 @@
         if terminated:
             env.reset()
             controller.reset()
-
+
+    motor_dashboard.show_and_hold()
     env.close()

examples/classic_controllers/custom_classic_controllers_dc_motor_example.py

@@ -1,7 +1,9 @@
 from classic_controllers import Controller
 from externally_referenced_state_plot import ExternallyReferencedStatePlot
 import gym_electric_motor as gem
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
 from gym_electric_motor.visualization import MotorDashboard
+from gym_electric_motor.visualization.render_modes import RenderMode
 
 if __name__ == "__main__":
     """
@@ -19,29 +21,27 @@
     """
 
     # following manual controller design addresses an ExtExDc. Other motor types require different controller stages
+    """
     motor_type = "ExtExDc"
     control_type = "CC"
     action_type = "Cont"
+    """
 
-    motor = action_type + "-" + control_type + "-" + motor_type + "-v0"
+    motor = Motor(MotorType.ExternallyExcitedDcMotor,
+        ControlType.CurrentControl,
+        ActionType.Continuous,)
 
-    if motor_type in ["PermExDc", "SeriesDc"]:
-        states = ["omega", "torque", "i", "u"]
-    elif motor_type == "ShuntDc":
-        states = ["omega", "torque", "i_a", "i_e", "u"]
-    elif motor_type == "ExtExDc":
-        states = ["omega", "torque", "i_a", "i_e", "u_a", "u_e"]
-    else:
-        raise KeyError(motor_type + " is not available")
 
     # definition of the plotted variables
-    external_ref_plots = [ExternallyReferencedStatePlot(state) for state in states]
+    external_ref_plots = [ExternallyReferencedStatePlot(state) for state in motor.states()]
+
+    motor_dashboard = MotorDashboard(additional_plots=external_ref_plots, render_mode=RenderMode.Figure)
 
     # initialize the gym-electric-motor environment
     env = gem.make(
-        motor,
-        visualization=MotorDashboard(additional_plots=external_ref_plots),
-        render_mode="figure",
+        motor.env_id(),
+        visualization=motor_dashboard
+
     )
 
     """
@@ -92,4 +92,5 @@
             env.reset()
             controller.reset()
 
+    motor_dashboard.show_and_hold()
     env.close()

examples/classic_controllers/custom_classic_controllers_ind_motor_example.py

@@ -1,3 +1,4 @@
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
 from classic_controllers import Controller
 from externally_referenced_state_plot import ExternallyReferencedStatePlot
 from external_plot import ExternalPlot
@@ -15,25 +16,34 @@
 
         action_type:    'Cont'      Continuous Action Space
     """
-
+
+    """
     motor_type = "SCIM"
     control_type = "SC"
     action_type = "Cont"
+    """
 
-    env_id = action_type + "-" + control_type + "-" + motor_type + "-v0"
+    motor = Motor(
+        MotorType.SquirrelCageInductionMotor,
+        ControlType.SpeedControl,
+        ActionType.Continuous,
+    )
 
     # definition of the plotted variables
     states = ["omega", "torque", "i_sd", "i_sq", "u_sd", "u_sq"]
     external_ref_plots = [ExternallyReferencedStatePlot(state) for state in states]
     external_plot = [
-        ExternalPlot(referenced=control_type != "CC"),
+        ExternalPlot(referenced=ControlType.SpeedControl != "CC"),
         ExternalPlot(min=-np.pi, max=np.pi),
     ]
     external_ref_plots += external_plot
 
+    motor_dashboard = MotorDashboard(additional_plots=external_ref_plots)
+
     # initialize the gym-electric-motor environment
     env = gem.make(
-        env_id, visualization=MotorDashboard(additional_plots=external_ref_plots)
+        motor.env_id(), 
+        visualization=motor_dashboard
     )
 
     """
@@ -67,4 +77,6 @@
         if terminated:
             env.reset()
             controller.reset()
+
+    motor_dashboard.show_and_hold()
     env.close()

examples/classic_controllers/custom_classic_controllers_synch_motor_example.py

@@ -1,3 +1,4 @@
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
 from classic_controllers import Controller
 from externally_referenced_state_plot import ExternallyReferencedStatePlot
 import gym_electric_motor as gem
@@ -16,15 +17,18 @@
         action_type:    'Cont'   Continuous Action Space in ABC-Coordinates
                         'Finite'    Discrete Action Space
     """
-
+    """
     motor_type = "PMSM"
     control_type = "SC"
     action_type = "Cont"
+    """
 
-    env_id = action_type + "-" + control_type + "-" + motor_type + "-v0"
+    motor = Motor(MotorType.PermanentMagnetSynchronousMotor,
+                  ControlType.SpeedControl,
+                  ActionType.Continuous)
 
     # definition of the motor parameters
-    psi_p = 0 if motor_type == "SynRM" else 45e-3
+    psi_p = 0 if "SynRM" in motor.env_id() else 45e-3
     limit_values = dict(omega=12e3 * np.pi / 30, torque=100, i=280, u=320)
     nominal_values = dict(
         omega=10e3 * np.pi / 30, torque=95.0, i=240, epsilon=np.pi, u=300
@@ -39,9 +43,10 @@
         for state in ["omega", "torque", "i_sd", "i_sq", "u_sd", "u_sq"]
     ]
 
+    motor_dashboard = MotorDashboard(additional_plots=external_ref_plots)
     # initialize the gym-electric-motor environment
     env = gem.make(
-        env_id,
+        motor.env_id(),
         visualization=MotorDashboard(additional_plots=external_ref_plots),
         motor=dict(
             limit_values=limit_values,
@@ -140,5 +145,5 @@
         if terminated:
             env.reset()
             controller.reset()
-
+ 
     env.close()