Update math

.gitignore

@@ -219,6 +219,11 @@ pythontex-files-*/
 # easy-todo
 *.lod
 
+# CVT plotting artifacts
+cvtModel/generated_graphs/
+cvtModel/ramp_plots/
+cvtModel/theta_ramp_plots/
+
 # xcolor
 *.xcp
 

backend/app/api/endpoints.py

@@ -47,10 +47,13 @@ def get_constants():
 @router.post("/run", response_model=FormattedResultModel)
 def run(payload: SimulationArgsInput | None = None):  # type: ignore
     """Run CVT simulation with optional custom parameters."""
-    args = payload.model_dump(exclude_none=True) if payload else {}
-    args = SimulationArgs.from_mapping(args)
-    result = simulate_cvt_model(args)
-    return result
+    try:
+        args = payload.model_dump(exclude_none=True) if payload else {}
+        args = SimulationArgs.from_mapping(args)
+        result = simulate_cvt_model(args)
+        return result
+    except ValueError as e:
+        raise HTTPException(status_code=400, detail=f"Invalid simulation input: {e}")
 
 
 @router.post("/run/stream", responses={200: {"model": StreamMessage}})
@@ -168,11 +171,14 @@ def run_simulation_thread():
 
 @router.post("/solvers", response_model=AllSolverResultsModel)
 def run_solvers(payload: SimulationArgsInput | None = None):  # type: ignore
-    args = payload.model_dump(exclude_none=True) if payload else {}
-    args = SimulationArgs.from_mapping(args)
+    try:
+        args = payload.model_dump(exclude_none=True) if payload else {}
+        args = SimulationArgs.from_mapping(args)
 
-    # Run all solvers in one call
-    return solve_all(args)
+        # Run all solvers in one call
+        return solve_all(args)
+    except ValueError as e:
+        raise HTTPException(status_code=400, detail=f"Invalid solver input: {e}")
 
 
 # TODO: Remove this logic from endpoints / bake into cvtModel simulator

cvtModel/README.md

@@ -22,3 +22,20 @@ flake8 src/ test/
 ```bash
 pre-commit install
 ```
+
+## Local Simulation + Graph Validation
+
+1. Generate a simulation CSV
+```bash
+python -c "from cvt_simulator import simulate_cvt_model, SimulationArgs; simulate_cvt_model(SimulationArgs(), out_csv='simulation_output.csv')"
+```
+
+2. Generate validation graphs from the CSV
+```bash
+python src/cvt_simulator/utils/generate_graphs.py --csv simulation_output.csv --out-dir generated_graphs
+```
+
+3. Optional: show interactive plots while generating files
+```bash
+python src/cvt_simulator/utils/generate_graphs.py --csv simulation_output.csv --out-dir generated_graphs --show
+```

cvtModel/src/cvt_simulator/__init__.py

@@ -1,11 +1,11 @@
 from .main import simulate_cvt_model
 from .utils.simulation_args import SimulationArgs
 from .models.dataTypes import (
-    CvtSystemForceBreakdown,
-    CarForceBreakdown,
-    EngineForceBreakdown,
+    CvtDynamicsBreakdown,
+    SecondaryPulleyDynamicsBreakdown,
+    PrimaryPulleyDynamicsBreakdown,
     SlipBreakdown,
-    SystemBreakdown,
+    DrivetrainBreakdown,
 )
 from .utils.frontend_output import FormattedSimulationResult
 from .models.ramps.ramp_config import PiecewiseRampConfig
@@ -16,11 +16,11 @@
 __all__ = [
     "simulate_cvt_model",
     "SimulationArgs",
-    "CvtSystemForceBreakdown",
-    "CarForceBreakdown",
-    "EngineForceBreakdown",
+    "CvtDynamicsBreakdown",
+    "SecondaryPulleyDynamicsBreakdown",
+    "PrimaryPulleyDynamicsBreakdown",
     "SlipBreakdown",
-    "SystemBreakdown",
+    "DrivetrainBreakdown",
     "FormattedSimulationResult",
     "PiecewiseRampConfig",
     "PiecewiseRamp",

cvtModel/src/cvt_simulator/constants/car_specs.py

@@ -14,8 +14,16 @@ class CarSpecs(BaseModel):
     """
 
     # Inertia values
-    # TODO: Look into inertia as it should be of all spinning parts
     engine_inertia: float = Field(default=0.1, description="Engine inertia in kg*m^2")
+    secondary_inertia: float = Field(
+        default=0.1, description="Secondary CVT pulley inertia in kg*m^2"
+    )
+    gearbox_inertia: float = Field(
+        default=0.05, description="Gearbox inertia in kg*m^2"
+    )
+    wheel_inertia: float = Field(
+        default=0.2, description="Wheel inertia in kg*m^2 (all wheels)"
+    )
     driveline_inertia: float = Field(
         default=0.5,
         description="Driveline inertia in kg*m^2 (includes sec CVT, gearbox, axles, wheels, hubs, etc)",
@@ -32,14 +40,17 @@ class CarSpecs(BaseModel):
     drag_coefficient: float = Field(
         default=0.6, description="Drag coefficient (unitless)"
     )
+    rolling_resistance_coefficient: float = Field(
+        default=0.015, description="Rolling resistance coefficient (unitless)"
+    )
 
     # Pulley geometry
     # TODO: These are all guesses, need to be gotten
     sheave_angle: float = Field(
         default=deg_to_rad(11.5 * 2), description="Sheave angle in radians"
     )
     initial_flyweight_radius: float = Field(
-        default=0.05, description="Initial flyweight radius in meters"
+        default=0.04878, description="Initial flyweight radius in meters"
     )
     helix_radius: float = Field(default=0.04445, description="Helix radius in meters")
 
@@ -127,10 +138,14 @@ class Config:
 
 # Export constants as module-level variables for backward compatibility
 ENGINE_INERTIA = _default_specs.engine_inertia
+SECONDARY_INERTIA = _default_specs.secondary_inertia
+GEARBOX_INERTIA = _default_specs.gearbox_inertia
+WHEEL_INERTIA = _default_specs.wheel_inertia
 DRIVELINE_INERTIA = _default_specs.driveline_inertia
 GEARBOX_RATIO = _default_specs.gearbox_ratio
 FRONTAL_AREA = _default_specs.frontal_area
 DRAG_COEFFICIENT = _default_specs.drag_coefficient
+ROLLING_RESISTANCE_COEFFICIENT = _default_specs.rolling_resistance_coefficient
 WHEEL_RADIUS = _default_specs.wheel_radius
 SHEAVE_ANGLE = _default_specs.sheave_angle
 INITIAL_FLYWEIGHT_RADIUS = _default_specs.initial_flyweight_radius

cvtModel/src/cvt_simulator/constants/constants.py

@@ -3,5 +3,5 @@
 AIR_DENSITY = 1.225  # kg/m^3
 GRAVITY = g  # m/s^2
 RUBBER_DENSITY = 1100  # kg/m^3
-RUBBER_ALUMINUM_STATIC_FRICTION = 0.8  # unitless
+RUBBER_ALUMINUM_STATIC_FRICTION = 0.51  # unitless
 RUBBER_ALUMINUM_KINETIC_FRICTION = 0.65  # unitless

cvtModel/src/cvt_simulator/models/cvt_shift_model.py

@@ -1,4 +1,4 @@
-from cvt_simulator.models.dataTypes import CvtSystemForceBreakdown
+from cvt_simulator.models.dataTypes import CvtDynamicsBreakdown
 from cvt_simulator.models.pulley.primary_pulley_interface import PrimaryPulleyModel
 from cvt_simulator.models.pulley.secondary_pulley_interface import SecondaryPulleyModel
 from cvt_simulator.utils.system_state import SystemState
@@ -12,8 +12,8 @@ class CvtShiftModel:
 
     This model:
     1. Takes generic pulley models (any implementation: physical, PID, lookup, etc.)
-    2. Calculates radial forces from each pulley using their specific mechanisms
-    3. Determines net shift force and acceleration from the force balance
+    2. Uses total axial forces from each pulley
+    3. Determines net shift force and acceleration from the axial force balance
     4. Handles friction and system dynamics
 
     The abstraction allows swapping pulley implementations without changing
@@ -33,21 +33,21 @@ def __init__(
 
     def get_breakdown(
         self, state: SystemState, coupling_torque: float
-    ) -> CvtSystemForceBreakdown:
+    ) -> CvtDynamicsBreakdown:
         primary_state, secondary_state = self._get_pulley_states(state, coupling_torque)
 
-        prim_radial = primary_state.forces.radial_force
-        sec_radial = secondary_state.forces.radial_force
-        net = prim_radial - sec_radial
+        prim_axial = primary_state.forces.axial_force_total
+        sec_axial = secondary_state.forces.axial_force_total
+        net = prim_axial - sec_axial
 
         shift_velocity = state.shift_velocity
         friction = self._frictional_force(net, shift_velocity)
 
         acceleration = (net + friction) / self.cvt_moving_mass
 
-        cvt_ratio = tm.current_cvt_ratio(state.shift_distance)
+        cvt_ratio = tm.current_effective_cvt_ratio(state.shift_distance)
 
-        return CvtSystemForceBreakdown(
+        return CvtDynamicsBreakdown(
             primary_state,
             secondary_state,
             friction,
@@ -71,7 +71,7 @@ def _get_pulley_states(self, state: SystemState, coupling_torque: float):
         primary_state = self.primary_pulley.get_pulley_state(state)
 
         # Calculate CVT ratio for torque scaling to secondary
-        cvt_ratio = tm.current_cvt_ratio(state.shift_distance)
+        cvt_ratio = tm.current_effective_cvt_ratio(state.shift_distance)
 
         # Get secondary pulley state (torque-reactive, needs scaled torque)
         secondary_state = self.secondary_pulley.get_pulley_state(
@@ -80,11 +80,9 @@ def _get_pulley_states(self, state: SystemState, coupling_torque: float):
 
         return primary_state, secondary_state
 
-    def _frictional_force(
-        self, sum_of_radial_forces: float, shift_velocity: float
-    ) -> float:
+    def _frictional_force(self, net_axial_force: float, shift_velocity: float) -> float:
         raw_friction = 20  # TODO: Update to use calculation
-        friction_magnitude = min(raw_friction, abs(sum_of_radial_forces))
+        friction_magnitude = min(raw_friction, abs(net_axial_force))
         if shift_velocity > 0:
             return -friction_magnitude
         return friction_magnitude