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pradeebanpradeeban
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Merge pull request #20 from shanferns12/main
pretending bangbang is pid
2 parents 21b3c62 + 7c9d8b3 commit 862048c

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‎tools/pid.graphml‎

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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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<graphml xmlns="http://graphml.graphdrawing.org/xmlns" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://graphml.graphdrawing.org/xmlns http://www.yworks.com/xml/schema/graphml/1.1/ygraphml.xsd" xmlns:y="http://www.yworks.com/xml/graphml">
3+
<key for="node" id="d6" yfiles.type="nodegraphics"/>
4+
<key for="edge" id="d10" yfiles.type="edgegraphics"/>
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<graph edgedefault="directed" id="1662583635302" projectName="autonomous">
6+
<node id="550865d1-28a3-40a9-9e25-d3b68ad277d6">
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<data key="d6">
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<y:ShapeNode>
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<y:Geometry height="50" width="148" x="245" y="85"/>
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<y:Fill color="#ffcc00" opacity="1"/>
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<y:BorderStyle color="#000" width="1"/>
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<y:NodeLabel>PZ:cardiac_pm.py</y:NodeLabel>
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<y:Shape type="rectangle"/>
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</y:ShapeNode>
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</data>
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</node>
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<node id="36b9f1df-7c84-4f07-8fce-c4a6f6462931">
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<data key="d6">
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<y:ShapeNode>
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<y:Geometry height="50" width="193" x="252" y="264"/>
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<y:Fill color="#ffcc00" opacity="1"/>
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<y:BorderStyle color="#000" width="1"/>
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<y:NodeLabel>CZ:shannon.py</y:NodeLabel>
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<y:Shape type="rectangle"/>
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</y:ShapeNode>
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</data>
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</node>
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<node id="4b860aae-05c9-4eb5-bc48-f8000ccb42a8">
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<y:ShapeNode>
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32+
<y:Fill color="#ffcc00" opacity="1"/>
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<y:BorderStyle color="#000" width="1"/>
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<y:NodeLabel>XZ:plotym.py</y:NodeLabel>
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<y:Shape type="rectangle"/>
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</y:ShapeNode>
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</data>
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</node>
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<edge id="0" source="550865d1-28a3-40a9-9e25-d3b68ad277d6" target="4b860aae-05c9-4eb5-bc48-f8000ccb42a8">
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<data key="d10">
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<y:GenericEdge configuration="com.yworks.bpmn.Connection">
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<y:LineStyle color="#7c4dff" width="1" type="solid"/>
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<y:Arrows source="none" target="delta"/>
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<y:EdgeLabel>PYM</y:EdgeLabel>
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<y:Point x="413" y="133.09160305343514"/>
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</y:GenericEdge>
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</data>
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<data key="d10">
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<y:GenericEdge configuration="com.yworks.bpmn.Connection">
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<y:LineStyle color="#f44336" width="1" type="solid"/>
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<y:Arrows source="none" target="delta"/>
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<y:EdgeLabel>CU</y:EdgeLabel>
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</data>
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<y:LineStyle color="#1565c0" width="1" type="solid"/>
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<y:Arrows source="none" target="delta"/>
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<y:EdgeLabel>XYM</y:EdgeLabel>
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<tid>1644943336906</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>DEL_NODE</actionName>
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<equivalent>
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<actionName>ADD_NODE</actionName>
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<tid>1644943355554</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>DEL_NODE</actionName>
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<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiXQ==</parameters>
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</inverse>
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<equivalent>
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<actionName>ADD_NODE</actionName>
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<parameters>WyJDWjpkdW1teV9jb250cm9sbGVyLnB5Iix7IndpZHRoIjoxOTMsImhlaWdodCI6NTAsInNoYXBlIjoicmVjdGFuZ2xlIiwib3BhY2l0eSI6MSwiYmFja2dyb3VuZENvbG9yIjoiI2ZmY2MwMCIsImJvcmRlckNvbG9yIjoiIzAwMCIsImJvcmRlcldpZHRoIjoxfSwib3JkaW4iLHsieCI6MjUyLCJ5IjoyNjR9LHt9LCIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiXQ==</parameters>
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</equivalent>
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</actionHistory>
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<actionHistory>
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<tid>1644943358106</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>SET_POS</actionName>
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<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsieCI6MTEwLCJ5IjoxMTB9LHsieCI6MTM0LCJ5IjoyNjZ9XQ==</parameters>
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</inverse>
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<equivalent>
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<actionName>SET_POS</actionName>
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<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsieCI6MTM0LCJ5IjoyNjZ9LHsieCI6MTEwLCJ5IjoxMTB9XQ==</parameters>
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</equivalent>
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</actionHistory>
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<actionHistory>
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<tid>1644943359494</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>SET_POS</actionName>
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<parameters>WyI1NTA4NjVkMS0yOGEzLTQwYTktOWUyNS1kM2I2OGFkMjc3ZDYiLHsieCI6MTAwLCJ5IjoxMDB9LHsieCI6MjQ1LCJ5Ijo4NX1d</parameters>
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</inverse>
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<equivalent>
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<actionName>SET_POS</actionName>
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<parameters>WyI1NTA4NjVkMS0yOGEzLTQwYTktOWUyNS1kM2I2OGFkMjc3ZDYiLHsieCI6MjQ1LCJ5Ijo4NX0seyJ4IjoxMDAsInkiOjEwMH1d</parameters>
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</equivalent>
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</actionHistory>
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<actionHistory>
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<tid>1644943362210</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>SET_POS</actionName>
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<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsieCI6MTM0LCJ5IjoyNjZ9LHsieCI6MjUyLCJ5IjoyNjR9XQ==</parameters>
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</inverse>
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<equivalent>
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<actionName>SET_POS</actionName>
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<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsieCI6MjUyLCJ5IjoyNjR9LHsieCI6MTM0LCJ5IjoyNjZ9XQ==</parameters>
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</equivalent>
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</actionHistory>
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<actionHistory>
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<tid>1644943375398</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>DEL_NODE</actionName>
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<parameters>WyI0Yjg2MGFhZS0wNWM5LTRlYjUtYmM0OC1mODAwMGNjYjQyYTgiXQ==</parameters>
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</inverse>
142+
<equivalent>
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<actionName>ADD_NODE</actionName>
144+
<parameters>WyJYWjpwbG90eW0iLHsid2lkdGgiOjEwMCwiaGVpZ2h0Ijo1MCwic2hhcGUiOiJyZWN0YW5nbGUiLCJvcGFjaXR5IjoxLCJiYWNrZ3JvdW5kQ29sb3IiOiIjZmZjYzAwIiwiYm9yZGVyQ29sb3IiOiIjMDAwIiwiYm9yZGVyV2lkdGgiOjF9LCJvcmRpbiIseyJ4Ijo1MDcsInkiOjE2MH0se30sIjRiODYwYWFlLTA1YzktNGViNS1iYzQ4LWY4MDAwY2NiNDJhOCJd</parameters>
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</equivalent>
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</actionHistory>
147+
<actionHistory>
148+
<tid>1644943378630</tid>
149+
<authorName>sanmi</authorName>
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<inverse>
151+
<actionName>SET_POS</actionName>
152+
<parameters>WyI0Yjg2MGFhZS0wNWM5LTRlYjUtYmM0OC1mODAwMGNjYjQyYTgiLHsieCI6MTAwLCJ5IjoxMDB9LHsieCI6NTA3LCJ5IjoxNjB9XQ==</parameters>
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</inverse>
154+
<equivalent>
155+
<actionName>SET_POS</actionName>
156+
<parameters>WyI0Yjg2MGFhZS0wNWM5LTRlYjUtYmM0OC1mODAwMGNjYjQyYTgiLHsieCI6NTA3LCJ5IjoxNjB9LHsieCI6MTAwLCJ5IjoxMDB9XQ==</parameters>
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</equivalent>
158+
</actionHistory>
159+
<actionHistory>
160+
<tid>1644943386853</tid>
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<authorName>sanmi</authorName>
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<inverse>
163+
<actionName>DEL_EDGE</actionName>
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<parameters>WyI0NzcwODQwZi04OGEwLTQ3NTItOWMxOS0yZTdmODlmOGZhNzkiXQ==</parameters>
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</inverse>
166+
<equivalent>
167+
<actionName>ADD_EDGE</actionName>
168+
<parameters>W3sic291cmNlSUQiOiI1NTA4NjVkMS0yOGEzLTQwYTktOWUyNS1kM2I2OGFkMjc3ZDYiLCJ0YXJnZXRJRCI6IjRiODYwYWFlLTA1YzktNGViNS1iYzQ4LWY4MDAwY2NiNDJhOCIsImxhYmVsIjoiUFlNIiwic3R5bGUiOnsidGhpY2tuZXNzIjoxLCJiYWNrZ3JvdW5kQ29sb3IiOiIjN2M0ZGZmIiwic2hhcGUiOiJzb2xpZCJ9LCJpZCI6IjQ3NzA4NDBmLTg4YTAtNDc1Mi05YzE5LTJlN2Y4OWY4ZmE3OSJ9XQ==</parameters>
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</equivalent>
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</actionHistory>
171+
<actionHistory>
172+
<tid>1644943394719</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>DEL_EDGE</actionName>
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<parameters>WyI3ZjJiMWM0Yy04ZjJmLTQyZjQtYjU1Yy0xY2RlNzdiMWU4NTIiXQ==</parameters>
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</inverse>
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<equivalent>
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<actionName>ADD_EDGE</actionName>
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<parameters>W3sic291cmNlSUQiOiIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLCJ0YXJnZXRJRCI6IjU1MDg2NWQxLTI4YTMtNDBhOS05ZTI1LWQzYjY4YWQyNzdkNiIsImxhYmVsIjoiQ1UiLCJzdHlsZSI6eyJ0aGlja25lc3MiOjEsImJhY2tncm91bmRDb2xvciI6IiNmNDQzMzYiLCJzaGFwZSI6InNvbGlkIn0sImlkIjoiN2YyYjFjNGMtOGYyZi00MmY0LWI1NWMtMWNkZTc3YjFlODUyIn1d</parameters>
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</equivalent>
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</actionHistory>
183+
<actionHistory>
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<tid>1644943403841</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>DEL_EDGE</actionName>
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<parameters>WyIyZDdlZjk4ZS04Y2E5LTRhZjMtYWQxOS1hYzM0MTQ2ZmZlYmYiXQ==</parameters>
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</inverse>
190+
<equivalent>
191+
<actionName>ADD_EDGE</actionName>
192+
<parameters>W3sic291cmNlSUQiOiI0Yjg2MGFhZS0wNWM5LTRlYjUtYmM0OC1mODAwMGNjYjQyYTgiLCJ0YXJnZXRJRCI6IjM2YjlmMWRmLTdjODQtNGYwNy04ZmNlLWM0YTZmNjQ2MjkzMSIsImxhYmVsIjoiWFlNIiwic3R5bGUiOnsidGhpY2tuZXNzIjoxLCJiYWNrZ3JvdW5kQ29sb3IiOiIjMTU2NWMwIiwic2hhcGUiOiJzb2xpZCJ9LCJpZCI6IjJkN2VmOThlLThjYTktNGFmMy1hZDE5LWFjMzQxNDZmZmViZiJ9XQ==</parameters>
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194+
</actionHistory>
195+
<actionHistory>
196+
<tid>1644943683422</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>UPDATE_NODE</actionName>
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<parameters>WyI0Yjg2MGFhZS0wNWM5LTRlYjUtYmM0OC1mODAwMGNjYjQyYTgiLHsid2lkdGgiOjEwMCwiaGVpZ2h0Ijo1MCwic2hhcGUiOiJyZWN0YW5nbGUiLCJvcGFjaXR5IjoxLCJiYWNrZ3JvdW5kQ29sb3IiOiIjZmZjYzAwIiwiYm9yZGVyQ29sb3IiOiIjMDAwIiwiYm9yZGVyV2lkdGgiOjF9LCJYWjpwbG90eW0iLHRydWVd</parameters>
201+
</inverse>
202+
<equivalent>
203+
<actionName>UPDATE_NODE</actionName>
204+
<parameters>WyI0Yjg2MGFhZS0wNWM5LTRlYjUtYmM0OC1mODAwMGNjYjQyYTgiLHsid2lkdGgiOjExNCwiaGVpZ2h0Ijo1MCwic2hhcGUiOiJyZWN0YW5nbGUiLCJvcGFjaXR5IjoxLCJiYWNrZ3JvdW5kQ29sb3IiOiIjZmZjYzAwIiwiYm9yZGVyQ29sb3IiOiIjMDAwIiwiYm9yZGVyV2lkdGgiOjF9LCJYWjpwbG90eW0ucHkiLHRydWVd</parameters>
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</equivalent>
206+
</actionHistory>
207+
<actionHistory>
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<tid>1662144313252</tid>
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<authorName>sanmi</authorName>
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<inverse>
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<actionName>UPDATE_NODE</actionName>
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<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsid2lkdGgiOjE5MywiaGVpZ2h0Ijo1MCwib3BhY2l0eSI6MSwic2hhcGUiOiJyZWN0YW5nbGUiLCJiYWNrZ3JvdW5kQ29sb3IiOiIjZmZjYzAwIiwiYm9yZGVyQ29sb3IiOiIjMDAwIiwiYm9yZGVyV2lkdGgiOjF9LCJDWjpkdW1teV9jb250cm9sbGVyLnB5Iix0cnVlXQ==</parameters>
213+
</inverse>
214+
<equivalent>
215+
<actionName>UPDATE_NODE</actionName>
216+
<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsid2lkdGgiOjE5MywiaGVpZ2h0Ijo1MCwib3BhY2l0eSI6MSwic2hhcGUiOiJyZWN0YW5nbGUiLCJiYWNrZ3JvdW5kQ29sb3IiOiIjZmZjYzAwIiwiYm9yZGVyQ29sb3IiOiIjMDAwIiwiYm9yZGVyV2lkdGgiOjF9LCJDWjpiYW5nbmJhbmcucHkiLHRydWVd</parameters>
217+
</equivalent>
218+
</actionHistory>
219+
<actionHistory>
220+
<tid>1662144436617</tid>
221+
<authorName>sanmi</authorName>
222+
<inverse>
223+
<actionName>UPDATE_NODE</actionName>
224+
<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsid2lkdGgiOjE5MywiaGVpZ2h0Ijo1MCwib3BhY2l0eSI6MSwic2hhcGUiOiJyZWN0YW5nbGUiLCJiYWNrZ3JvdW5kQ29sb3IiOiIjZmZjYzAwIiwiYm9yZGVyQ29sb3IiOiIjMDAwIiwiYm9yZGVyV2lkdGgiOjF9LCJDWjpiYW5nbmJhbmcucHkiLHRydWVd</parameters>
225+
</inverse>
226+
<equivalent>
227+
<actionName>UPDATE_NODE</actionName>
228+
<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsid2lkdGgiOjE5MywiaGVpZ2h0Ijo1MCwib3BhY2l0eSI6MSwic2hhcGUiOiJyZWN0YW5nbGUiLCJiYWNrZ3JvdW5kQ29sb3IiOiIjZmZjYzAwIiwiYm9yZGVyQ29sb3IiOiIjMDAwIiwiYm9yZGVyV2lkdGgiOjF9LCJDWjpiYW5nYmFuZy5weSIsdHJ1ZV0=</parameters>
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</equivalent>
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</actionHistory>
231+
<actionHistory>
232+
<tid>1662583658804</tid>
233+
<authorName>Shannon</authorName>
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<inverse>
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<actionName>UPDATE_NODE</actionName>
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<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsid2lkdGgiOjE5MywiaGVpZ2h0Ijo1MCwib3BhY2l0eSI6MSwic2hhcGUiOiJyZWN0YW5nbGUiLCJiYWNrZ3JvdW5kQ29sb3IiOiIjZmZjYzAwIiwiYm9yZGVyQ29sb3IiOiIjMDAwIiwiYm9yZGVyV2lkdGgiOjF9LCJDWjpiYW5nYmFuZy5weSIsdHJ1ZV0=</parameters>
237+
</inverse>
238+
<equivalent>
239+
<actionName>UPDATE_NODE</actionName>
240+
<parameters>WyIzNmI5ZjFkZi03Yzg0LTRmMDctOGZjZS1jNGE2ZjY0NjI5MzEiLHsid2lkdGgiOjE5MywiaGVpZ2h0Ijo1MCwib3BhY2l0eSI6MSwic2hhcGUiOiJyZWN0YW5nbGUiLCJiYWNrZ3JvdW5kQ29sb3IiOiIjZmZjYzAwIiwiYm9yZGVyQ29sb3IiOiIjMDAwIiwiYm9yZGVyV2lkdGgiOjF9LCJDWjpzaGFubm9uLnB5Iix0cnVlXQ==</parameters>
241+
</equivalent>
242+
</actionHistory>
243+
</graph>
244+
</graphml>

‎tools/shannon.py‎

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1+
import numpy as np
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import concore
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setpoint = 67.5
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5+
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def bangbang_controller(ym):
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amp = 0
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if ym[0]>setpoint +2.5:
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amp = 3
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elif ym[0]<setpoint -2.5:
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amp = 1
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ustar = np.array([amp,30])
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return ustar
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concore.default_maxtime(150)
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concore.delay = 0.02
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init_simtime_u = "[0.0, 0.0,0.0]"
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init_simtime_ym = "[0.0, 70.0,91]"
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u = np.array([concore.initval(init_simtime_u)]).T
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print("Shannon's PID controller: setpoint is "+str(setpoint))
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while(concore.simtime<concore.maxtime):
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while concore.unchanged():
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ym = concore.read(1,"ym",init_simtime_ym)
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ym = np.array(ym)
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ustar = bangbang_controller(ym)
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print(str(concore.simtime) + " u="+str(ustar) + "ym="+str(ym))
32+
concore.write(1,"u",list(ustar),delta=0)

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