Be clearer about units in RobotR3 motor

[HansOlsson]

The only controversial part is the name RaR.

Without this change based on La.L=250/(2*D*w) and C.C=(1/250)*D/w one might conclude that D has unit Siemens (inverted Ohm).

Summary by CodeRabbit

• New Features

  • Introduced a configurable parameter for adjusting the motor’s electric resistance.

• Refactor

  • Updated parameter definitions to clarify motor frequency and damping.
  • Revised component calculations for inductance, resistance, and capacitance to rely on the new resistance parameter, enhancing simulation flexibility and accuracy.

[coderabbitai[bot]]

Walkthrough

This change updates the motor model in the RobotR3 utilities by adjusting parameter types and modifying calculation formulas. The parameter w is now defined as an angular frequency, and the damping constant D includes a unit annotation. A new parameter RaR (electric resistance) has been added, and the formulas for the inductor, resistor, and capacitor have been updated to reference RaR rather than hardcoded constants. These modifications provide greater flexibility in tuning the motor parameters.

Changes

File	Changes Summary
Modelica/Mechanics/.../RobotR3/Utilities/Motor.mo	- Parameters: Updated w from Real (time constant) to SI.AngularFrequency (angular frequency), and added unit "1" to D. - New Parameter: Added RaR as SI.Resistance with a default of 250. - Calculations: Modified inductor (La), resistor (Ra), and capacitor (C) expressions to use RaR instead of a fixed value.

Poem

In my burrow of code I hop with cheer,
Tweaks in motor parameters now appear.
From angular spins to resistance so true,
My circuits dance as they compute anew.
With every change, my logic does gleam—
A rabbit's delight in a motor's dream!
🐇✨

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📥 Commits

Reviewing files that changed from the base of the PR and between 5542be30bc34d3a383adcde117ddbd9b11f7ecb3 and 544d814c8c17b88e5e8e2d3a983d23766902a0b1.

📒 Files selected for processing (1)

• Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilities/Motor.mo (3 hunks)

🚧 Files skipped from review as they are similar to previous changes (1)

• Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilities/Motor.mo

⏰ Context from checks skipped due to timeout of 90000ms (2)

• GitHub Check: external_c_checks_cmake_windows-cygwin
• GitHub Check: external_c_checks_cmake_windows-msvc

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[HansOlsson]

I find the experiment with coderabbit interesting and the statements look suggestive. However, the summary completely misses the intent of the changes.

[beutlich]

I find the experiment with coderabbit interesting and the statements look suggestive. However, the summary completely misses the intent of the changes.

Yes, it's experimental. The summary feature is rather useless. The actual review comments seem more promising to me, however that's not part of a free service and only available now during the coderabbit trial phase of 14 days.

[casella]

But the poem, oh, the poem...