Coil Gun Control System and User Interface

TA: Luke Wendt

Group: 52
Bryan Mbanefo (mbanefo2)
Adwaita Dani (aadani2)
Felipe Fregoso (fregoso2)

April 28, 2017

Contents
1 Introduction ............................................................................................................................................... 3
1.1 Multi-stage Coilgun System Overview .............................................................................................. 3
1.2 Objectives ........................................................................................................................................... 3
1.3 Benefits and Features of the coil gun ................................................................................................. 3
2 Design ....................................................................................................................................................... 4
2.1 Block Diagram ................................................................................................................................... 4
2.2 Physical design ................................................................................................................................... 5
2.2.1 MCU ............................................................................................................................................ 5
2.2.2 Sensors ........................................................................................................................................ 6
2.2.3 User Interface .............................................................................................................................. 7
2.2.4 Power Supply .................................................................................................................................. 8
2.2.5 Control Algorithm ........................................................................................................................... 9
3 Design Verifications ................................................................................................................................ 11
3.1 MCU ................................................................................................................................................. 11
3.2 Power ................................................................................................................................................ 11
3.3 Sensor ............................................................................................................................................... 11
3.4 User Interface ................................................................................................................................... 12
3.5 Trigger Accuracy .............................................................................................................................. 12
4 Ethics and Safety ..................................................................................................................................... 13
4.1 Ethics ................................................................................................................................................ 13
4.2 Safety ................................................................................................................................................ 14
5 Cost ......................................................................................................................................................... 15
5.1 Labor ................................................................................................................................................ 15
5.2 Parts .................................................................................................................................................. 15
6 Accomplishments and Future Work ........................................................................................................ 16
6.1 Accomplishments ............................................................................................................................. 16
6.3 Uncertainties .................................................................................................................................... 17
6.2 Future Work ..................................................................................................................................... 17
7 References ............................................................................................................................................... 19
8 Appendix ................................................................................................................................................. 20
8.1 Arduino Code .................................................................................................................................... 20
8.2 Python GUI ....................................................................................................................................... 22

2
1 Introduction

1.1 Multi-stage Coil Gun System Overview

The multi-stage coil gun is a device that fires a small projectile at high speeds using an
electromagnetic force. It works by generating a large current in a coil that winds around a projectile
with a conduction path in the same direction as the winding. As mentioned in Ampere’s law, a
magnetic field is generated in the projectile’s conducting path and by Faraday’s law, the induced
current in the projectile will create a magnetic field opposing that of the core. The projectile is then
accelerated by a force proportional to the gradient of mutual inductance between the coils, coil and
projectile currents.

The purpose of this project is to shed light on the many applications of electromagnetics.
We chose this project because of the technical challenges it presents and because it aligns with the
skills and academic focus of our group.

1.2 Objectives

The goal of this project is to design and build a control circuit and a user interface for the
coil gun. The function of the control circuit is to accurately determine when to trigger the coils to
increase the velocity of the projectile as it passes through. The goal is for the final speed of the
projectile to be between 15-17 m/s. The launch speed and estimated distance travelled will be
displayed on the user interface. We also need to ensure that our project is safe and adheres to the
rules and regulations of IEEE and the University.

1.3 Benefits and Features of the coil gun

Benefits:
• Entertainment.
• Can be used as a teaching aid to display the effects of electromagnetism.
• Portable and easy to set up.
• Good application of power electronics and control systems.

Features:
• User Interface
• High mobility and easy set up
• Launching a projectile at speeds of 15m/s and above.

3
2 Design

2.1 Block Diagram

Figure 1: Block diagram for control system of the coil gun

In the final system, there is a LIDAR sensor that finds the current distance of the
projectile within the barrel. Once the projectile has reached the optimal position to trigger the
coil, the microcontroller will send a signal to the trigger circuit. The position of the projectile is
sent over to the User Interface on the laptop through serial communication.

4
2.2 Physical design

2.2.1 MCU

The microcontroller needed to read in data and send it to the trigger circuit quickly enough
for the coil gun to fire on time. The microcontroller we chose was the ATmega328. This
microcontroller is also easy to program because the code can be uploaded onto an Arduino dev
board and then the chip can be removed and placed on our PCB. The microcontroller receives
analog data from the sensors that allow it to know where the projectile currently is within the
barrel. When the projectile is within optimal firing position, the microcontroller will send a five
volt digital signal to the trigger circuit that will discharge the projectile and propel it with more
force. The microcontroller will also communicate with the laptop using serial communication.
The microcontroller will send the data through the UART pin through and FTDI chip to the USB
port. A diagram of the microcontroller can be seen below in figure 2.

Figure 2: Interface between MCU and other devices

5
2.2.2 Sensors

The old IR sensors were replaced with a DT35-B15551 LIDAR sensor, this sensor was
chosen mainly because of its speed of measurement and output time. It also provides both digital
and analog output but for the purposes if the project, only the analog output was used. The
LIDAR gives out an analog output with a 10V range going from 0V (minimum teach distance) to
10V (maximum teach distance). The Switching output of the LIDAR requires the use of IO
LINK, however, the MCU does not understand this language which is why there is an IO LINK
to SPI converter on the PCB, then we send the SPI data to the MCU for processing. The
switching output is not used because the analog output was sufficient for out applications.
The LIDAR can work for various distances ranging from 5mm to 10,000mm and the
range you need can be configured using the set and select buttons on the LIDAR. It also has
various output speed modes ranging from 2ms to 64ms.

Table 1: LIDAR pin configuration

Pin (color) Function
1 (brown) +24V power
2 (White) Analog/Switching output
3 (Blue) COM
4 (Black) Switching Output
5 (Grey) +24V to reset to factory settings

Table 2: Output response time for LIDAR

Super-
Super-Fast Fast Medium Slow
Slow
Output rate 2ms 4ms 8ms 16ms 64ms
Response time 4.5ms 12.5ms 24.5ms 48.5ms 192.5ms
Switching
166Hz 50Hz 25Hz 12Hz 3Hz
frequency

Figure 3: LIDAR Dimensions

2.2.3 User Interface

The user interface will consist of a laptop that has been dedicated for only the coil gun.
The laptop communicates with the MCU to begin the fire. There is a red button that is clicked to
fire the first coil and propel the projectile. The MCU also sends the current location of the
projectile to the laptop for graphs to be created with the data. The MCU and the computer
communicate with each other through USB. The button that is pressed and the graphs that are
created are all in a Python GUI. This makes it easier for the user to fire the coilgun and read the
data of the fire.

7
2.2.4 Power Supply
Sorensen SLC 48-4.1b
The power supply used is the Sorensen SLC 48-4.1b. Our power supply consists of 6 of these
Sorensen power supplies. Each power supply supplies 50V, so we connect 4 of them in series to
get an output voltage of 200V DC. This supplies power to our three capacitor banks as shown in
the figure below:

Figure 4: Power circuit to charge-discharge capacitors and energize coils

A discharge circuit is also included to enable us to discharge the capacitor banks if we

choose not to fire the bullet after we have charged the capacitors. This helps to ensure safety
especially when stowing away for a long time.

5V power supply
The system consists of a 24V AC/DC wall adapter that will go into a power jack in the
PCB. The 24V can then go to a pin to power the LIDAR sensor. It is also connected to a buck
converter that steps down the voltage to 5V. The circuit for the 24V and 5V supply can be seen
below in figure 5.

8
 Figure 5: 24V and 5V power supply
2.2.5 Control Algorithm

The control algorithm that runs on the microcontroller will use a predictive control
system to determine appropriate triggering times for the three stages of the coil gun. A
mathematical model of the force applied to the bullet is calculated using equation 1.
𝜕𝑀
𝑓# = 𝑖&'() 𝑖*+))#, (1)
𝜕𝑧

Mutual inductance between the coil and bullet is analytically calculated using elliptical
integrals and yields a distance profile as shown in fig 6.

Figure 6: Mutual Inductance Vs Displacement

9
The current through the coils rises rapidly at first and then decreases creating a waveform as
shown in figure 7.

Figure 7: Coil current vs Time

This current profile in the coils leads to a brief force in one direction followed by a large force in
the opposite direction. We observe that there is a maximum point for both these occurrences at
points z = ±0.002m (Figure 8).

Figure 8: Force vs Displacement

The force and momentum values at these two points are compared in figure 9.
Since the net momentum at the point z = +0.002m is positive, it is the optimal firing position for

10
the coil. We write our microcontroller code to cause the coil current to trigger when the bullet is
at this optimal firing point.

Figure 9: Force vs Time and Momentum vs Time

3 Design Verifications

3.1 MCU

We were able to sample our data into our MCU quickly because the ATmega328 has a
clock speed of 16MHz. This allowed the MCU to send in sufficient data to the User Interface as
well as trigger the coils at the proper time.
3.2 Power

The Sorenson Power Supply could give the voltage within the range of 195V-200V that
we specified that it would be able to give. The 24V power supply was also able to be stepped
down by the Buck Converter to be about 5V. Both tests were confirmed to be within their
specified voltages with a multimeter.

3.3 Sensor

The sensor used was the DT35-B15551 LIDAR from SICK. This device was selected
because it meets all our resolution and range requirements. It has a resolution of 0.1mm.

11
3.4 User Interface

The User Interface communicates to the microcontroller with USB as expected. The
diagram below is the output displayed on the User Interface using the data we get from the
microcontroller.

Figure 10: Data displayed by the User Interface

3.5 Trigger Accuracy

The delay in the microcontroller needed to be small so that it did not affect the timing of
the firing. We required the trigger time delay to be less than 0.167 milliseconds. In the test, a
square wave on a function generator was connected to an oscilloscope and the microcontroller.
The microcontroller outputted a high signal onto the oscilloscope when it read in a high signal.
The results of the test can be seen below in figure 11.

12
 Figure 11: Timing delay in microcontroller

The top wave is the function generator and the bottom wave is the output from the
microcontroller. As can be seen in the figure above, the distance measured in the delay is 9.5
microseconds. This is less than the required value to accurately trigger the SCRs.

4 Ethics and Safety

4.1 Ethics

We understand that this project has many applications including military purposes,
however we would like to reiterate that we are doing this purely out of interest and for the purpose
of learning the engineering process. We do not have any ambitions to cause harm or danger of any
kind and we will uphold both the university and IEEE code of ethics
The most important code in the IEEE code of ethics for our project is #1; “to accept
responsibility in making decisions consistent with the safety, health, and welfare of the public, and
to disclose promptly factors that might endanger the public or the environment” [2]. This project
involves making a weapon that could hurt people. It is important that guidelines are laid out for
everyone to stay safe. Another important rule is #9, “to avoid injuring others, their property,

13
reputation, or employment by false or malicious action” [2]. This project is meant to teach people
about electromagnetics and pulsed power and it should not be used for malicious actions.
4.2 Safety

The LIDAR laser used in the project have a power of 250 mW. This means that the lasers
fall into Class 3b of lasers. These lasers pose a threat if viewed directly with the eye [4]. Proper
warning will be given to people to not use binoculars or other optical devices. People will also be
advised to not stare at the laser.
Operating a gun is always dangerous, even more so when it involves the use of high
voltage, current and fast moving projectiles. Appropriate safety precautions will be put in place to
prevent undesirable and unforeseen circumstances. Some of these safety features include:
• A protective cover for the capacitor box.
• A discharge circuit for discharging charged capacitors.
• Three pole switch to prevent capacitor charge from flowing back into the source.

Some safety rules to follow:

• Never point the coil gun at something you do not want to shoot.
• Making sure the power is off before changing any of the circuit connections.
• Check and test for faulty equipment before use.
• Always assume that the capacitors are charged.
• Always discharge capacitors if stowing away for a long time.
• Always keep the gun pointed in a safe direction.
• Do not place your finger on the trigger button unless sure that you are ready to fire.
• Make sure everyone around you is following the safety rules.
• Do not directly touch the capacitors.
• The coil gun should never be operated by persons under the influence of alcohol or drugs.
• Children must never be left alone with the coil gun.

14
5 Cost
5.1 Labor

Name Hourly Rate ($) Hours = 12 weeks × Total × 2.5 ($)

15 hours per week
Adwaita Dani 33 180 14,850
Bryan Mbanefo 33 180 14,850
Felipe Fregoso 33 180 14,850
Total 99 540 44,550

5.2 Parts
Unit
Parts Part # Quantity Cost Cost ($)
($)
Zener Diode 47V 225MW BZX84C47LT1GOSCT-ND 5 0.14 0.7
AC/DC WALL MOUNT
237-1461-ND 1 17.28 17.28
ADAPTER 24V 24W
Power Jack 732-5930-ND 2 1.05 2.1
Zener Diode 30V 225MW BZX84C30LT1GOSCT-ND 15 0.131 1.97
Capacitor 270pF 50V 311-1191-1-ND 15 0.075 1.13
Capacitor 0.1pF 250V 478-6549-1-ND 15 0.68 10.2

Capacitor 1pF 50V 311-1089-1-ND 15 0.093 1.4

OP-Amp 497-1580-1-ND 10 0.314 3.14

Capacitor 10pF 50V 311-1099-1-ND 15 0.059 0.89
FTDI Chip 768-1135-1-ND 7 2.38 16.66
Dual Diode MMBD2837LT1GOSCT-ND 10 0.186 1.86
Voltage Regulator 296-42411-1-ND 20 1.231 24.62
Capacitor .47uF 10V 399-9247-1-ND 10 0.134 1.34
MCU ATMEGA328-PU-ND 5 1.96 9.8
Resistor 10kΩ 311-10KARCT-ND 30 0.018 0.54
Resistor 1MΩ 311-1.00MCRCT-ND 15 0.021 0.32
Capacitor 1uF 16V 311-1365-1-ND 15 0.076 1.14

15
 IO-Link Master MAX14824GTG+-ND 8 5.21 41.68
16 MHz Clock X433-ND 3 0.69 2.07
Buck Converter 296-26982-1-ND 5 2.7 13.5
Capacitor 2.7uF 10V 399-3127-1-ND 5 0.45 2.25
Capacitor 2700pF 50V 311-1130-1-ND 5 0.1 0.5
Capacitor .056uF 50V 478-1392-1-ND 5 0.16 0.8
Capacitor 150pF 50V 399-1125-1-ND 5 0.1 0.5
Capacitor 47uF 6.3V 311-1897-1-ND 10 0.346 3.46
Inductor 68uH 2mA 445-1069-1-ND 5 0.21 1.05
Schottky Diode 40V 3A 497-2465-1-ND 5 0.48 2.4
Pin Head .1" SAM1184-05-ND 5 1.19 5.95
Capacitor 4.7uF 25V 490-3335-1-ND 10 0.112 1.12
Capacitor 10uF 10V 399-4925-1-ND 5 0.13 0.65
Capacitor 10000pF 50V 311-1136-1-ND 5 0.1 0.5
Resistor 10kΩ 311-10KARCT-ND 5 0.1 0.5
Resistor 3.24kΩ 311-3.24KCRCT-ND 5 0.1 0.5
Resistor 1.78kΩ 311-1.78KCRCT-ND 5 0.1 0.5
Capacitor .1uF 50V 478-1395-1-ND 5 0.1 0.5
PCB1 5 26
PCB2 5 26
LIDAR DT35-B15551 1 413 413
IO-Link Cable 1 10 10
total 648.50

Total of Labor and Parts = $45,198.50

6 Accomplishments and Future Work

6.1 Accomplishments

After a lot of hard work though the semester we happy to say that we had three major
accomplishments. The first was that we could get a more accurate way of measuring the position
of the projectile as it moves through the barrel and get a continuous stream of data. Using this
data, we could then plot the speed profile of the projectile as it moves through the barrel.

16
Second, we attained a top speed of 14.36m/s using only two capacitor stages, which is ~4.36m/s
faster than that achieved by the sensing system in the past using three capacitor stages. Lastly,
we created a GUI platform to fire the projectile and visualize data related to the fire.

6.3 Uncertainties

The LIDAR sensor that measures projectile position currently has a resolution of 0.1mm
for static targets. Since the current firing speeds are reasonably low, we have not seen any
significant error in position detection even when the bullet is in motion. But if in the future the
projectile speed was increased significantly, the LIDAR-based projectile position measurements
might be less accurate due to Doppler shift in the Tx-Rx optical signals. The magnitude of this
possible error has not been quantified as yet, and may be a subject for future work.

6.2 Future Work

Some future work to be added to optimize the system would be to add striped bullet
sensing to improve the speed measurement. The photodiode and receiver will be placed at angles
so that when the projectile is in the position, the return signal is reflected to the receiver. The
projectile itself will have to be painted with black and white stripes. This will vary the intensity
of the reflected light and give us a square wave that tells us how many strips have been passed
and how far into the barrel has the projectile moved.

Figure 12 : Block diagram showing the placement of photodiodes

17


Another thing to be done would be to make the trigger signal a function of both the
position and velocity of the bullet. This will help optimize the firing because the projectile does
not always move at the same velocity so in different fire cycles the time it takes to for the
projectile to travel a fixed distance will vary which will also vary the optimal time of fire
because by the time the current rushes into the coil, the projectile may not be in the same optimal
position

18


7 References

[1] Reinhard, K., “A Methodology for Selecting an Electromagnetic Magnetic Gun,” M.S. thesis,
Dept. Elect. Eng., Univ. of Texas, Austin, TX, 1992.

[2] IEEE, “IEEE IEEE Code of Ethics”, 2017. [Online]. Available:

http://www.ieee.org/about/corporate/governance/p7-8.html. [Accessed: 8-Feb-2017].

[3] Dagdagan, J., Ko, Y., Nanavati, S., “Multistage Coil Gun”, 2013. [Online]. Available:
https://courses.engr.illinois.edu/ece445/projects.asp. [Accessed: 1-Feb-2017].

[4] "Laser Classification | Environmental Health and Safety", Ehs.research.uiowa.edu, 2017.

[Online]. Available: https://ehs.research.uiowa.edu/laser-classification. [Accessed: 25-Feb- 2017].

[5] V. profile, "AIXIZ 650nm 5mw 12x30mm laser module 3.2VDC", Darutid.blogspot.com,
2017. [Online]. Available: http://darutid.blogspot.com/2013/03/aixiz-650nm-5mw-12x30mm-
laser-module.html. [Accessed: 25- Feb- 2017].

[6] S. I. Babic and C. Akyel, "Magnetic Force Calculation Between Thin Coaxial Circular Coils
in Air," in IEEE Transactions on Magnetics, vol. 44, no. 4, pp. 445-452, April 2008.

19
8 Appendix

8.1 Arduino Code

int lidar = A3;
int lval = 0;

int dpin = 5; // the pin that will go off to fire the first coil
int fire = 6; // pin that will go off to fire the second coil
int last = 7; // pin to fire the last coil

int go = 0;
int beg = 0;
byte thebyte;
int elapse;

int elapse_st;

void setup()

{
Serial.begin(115200);
pinMode(dpin, OUTPUT);
pinMode(fire,OUTPUT);

pinMode(last,OUTPUT);
}
void loop()

{

if (Serial.available() > 0) { //only run this in loop first time checks for the fire command
thebyte = Serial.read();

if (thebyte == '6') {
go = 1;
}

20
 }

if(go == 1) //start once the fire command has been given

{
if (beg == 0)
{

elapse_st = millis();
beg = beg + 1;
}

elapse = millis( )- elapse_st; //calculate te elapsed time of the fire

lval = analogRead(lidar); //get the analalog value from the sensor




Serial.println(lval); //send the value to python

Serial.println(elapse); //send time to python

digitalWrite(dpin, HIGH); // first coil fired

if(lval > 347)
{
digitalWrite(fire, HIGH); //second coil fired
}

if(lval > 684)

{
digitalWrite(last, HIGH); // third coil fired

}
if(lval > 1022) //send that the projectile has left the coil reset pins for next fire

21
 {
Serial.println('e');

digitalWrite(dpin, LOW);
digitalWrite(fire, LOW);
digitalWrite(last, LOW);
go = 0;

beg = 0;
}
}

8.2 Python GUI

import matplotlib

matplotlib.use('TkAgg')

import numpy as np

from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg

from matplotlib.figure import Figure

import tkinter as tk

import serial

import matplotlib.pyplot as plt

import csv

file_name = 'three_stage_solidAl_1May17_2'

values = []

22
time = []

plt.ion()

cnt = 0

serialArduino = serial.Serial(port='COM8',baudrate=115200, timeout=10.0)

#class to create the buttons and cap entries

class MyFirstGUI:

def __init__(self, master):

self.master = master

master.title("Coil Gun GUI")

self.fire_button = tk.Button(master, text="FIRE",height =2,

width=10,bg="red",fg="white",command=self.fire)

self.fire_button.grid(row=0,column=0)

def fire(self):

flag =1

if(flag== 1):

try:

serialArduino.write(bytes(b'6'))

except:

print('This shit doesnt work.')

# print("capacitor is fired!")

def funct():

23
 valueRead = None

while(valueRead != b'e'):

while(serialArduino.inWaiting() == 0):

pass

valueRead = serialArduino.readline()

timeRead = serialArduino.readline()

if (valueRead==b'e' or timeRead == b'e'):

return()

#check if valid value can be casted

try:

valueInInt = float(valueRead)

timeInInt = float(timeRead)

print(valueInInt)

if valueInInt <= 1024:

if valueInInt >= 0:

values.append(valueInInt * 0.00035)

time.append(timeInInt)

if valueInInt == 1023:

return()

# values.pop(0)

#drawnow(plotValues)

else:

print('invalid number')

else:

print('number too large')

except ValueError:

print('invalid cannot cast')

continue

24


serialArduino.flushInput()

serialArduino.flushOutput()

funct()

meter_values = values

# Code to filter values

# Data : meter_values, time

low_pass_data = []

window_size = 20 # Size of averaging window

for idx in range(len(meter_values)):

averaging_data = []

for avg_idx in range(window_size):

if((idx-avg_idx)>=0):

averaging_data.append(meter_values[idx-avg_idx]) # Use window size from previous data

values

low_pass_val = np.mean(np.array(averaging_data))

low_pass_data.append(low_pass_val)

# Filter Time Data to make it continuous

time_low_pass = []

window_size_time = 4 # Size of averaging window

for idx in range(len(meter_values)):

averaging_data = []

for avg_idx in range(window_size_time):

if((idx-avg_idx)>=0):

averaging_data.append(time[idx-avg_idx]) # Use window size from previous data values

25
 low_pass_val = np.mean(np.array(averaging_data))

time_low_pass.append(low_pass_val)

fig4 = Figure(figsize=(4,4))

d = fig4.add_subplot(111)

d.grid(True)

d.plot(time_low_pass,low_pass_data,label='values')

d.set_title("Distance vs Time",fontsize=10)

d.set_ylabel("Position (m)", fontsize=10)

d.set_xlabel("Time (ms)", fontsize=10)

# Calc speed of projectile wrt time

# Data : meter_values, time

speed_calc_window = 1

speed_data = []

for idx in range(len(meter_values)):

if((idx-speed_calc_window) >= 0):

delta_position = low_pass_data[idx] - low_pass_data[idx-speed_calc_window]

delta_time = time_low_pass[idx] - time_low_pass[idx-speed_calc_window]

if(delta_time == 0):

delta_time = 0.0833

speed_val = (delta_position*1000)/(delta_time)

speed_data.append(speed_val)

else:

speed_data.append(0.0)

26


speed_low_pass_data = []

window_size_speed = 12 # Size of averaging window

for idx in range(len(speed_data)):

averaging_data = []

for avg_idx in range(window_size_speed):

if((idx-avg_idx)>=0):

averaging_data.append(speed_data[idx-avg_idx]) # Use window size from previous data

values

else:

averaging_data.append(0.0)

low_pass_val = np.mean(np.array(averaging_data))

speed_low_pass_data.append(low_pass_val)

plt.figure()

plt.plot(time_low_pass,speed_low_pass_data)

with open('{0}.csv'.format(file_name), 'w') as writefile:

csvwriter = csv.writer(writefile)

csvwriter.writerow(['Time','Time_Low_Pass_Val','ADC_value','Low_Pass_Val','Speed_Val','Speed_Low_P
ass_Val']) # Write Header

for idx in range(len(time)):

csvwriter.writerow(['{0}'.format(time[idx]), '{0}'.format(time_low_pass[idx]),
'{0}'.format(values[idx]), '{0}'.format(low_pass_data[idx]), '{0}'.format(speed_data[idx]),
'{0}'.format(speed_low_pass_data[idx])])

min_position = min(low_pass_data)

27
 max_position = max(low_pass_data)

min_time = min(time)

max_time = max(time)

avg_speed = (max_position-min_position)*1000/(max_time-min_time)

print('Average Speed:{0} m/s'.format(avg_speed))

print('Exit Speed:{0} m/s'.format(speed_low_pass_data[-1]))

# Calc acceleration vs position

accel_calc_window = 10

accel_data = []

for idx in range(len(meter_values)):

if((idx-accel_calc_window) >= 0):

delta_speed = speed_low_pass_data[idx] - speed_low_pass_data[idx-accel_calc_window]

delta_time = time_low_pass[idx] - time_low_pass[idx-accel_calc_window]

accel_val = (delta_speed*1000)/(delta_time)

accel_data.append(accel_val)

else:

accel_data.append(0.0)

accel_low_pass_data = []

window_size_accel = 5 # Size of averaging window

for idx in range(len(speed_data)):

averaging_data = []

for avg_idx in range(window_size_accel):

if((idx-avg_idx)>=0):

averaging_data.append(accel_data[idx-avg_idx]) # Use window size from previous data

values

else:

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 averaging_data.append(0.0)

low_pass_val = np.mean(np.array(averaging_data))

accel_low_pass_data.append(low_pass_val)

plt.figure()

plt.plot(low_pass_data,accel_low_pass_data)

print('Average Speed:{0} m/s'.format(avg_speed))

print('Exit Speed:{0} m/s'.format(speed_low_pass_data[-1]))

fig1 = Figure(figsize=(4,4))

acc = fig1.add_subplot(111)

acc.grid(True)

acc.plot(low_pass_data,accel_low_pass_data,label='values')

acc.set_title("Acceleration vs Position",fontsize=10)

acc.set_ylabel("Acceleration (m/s^2)", fontsize=10)

acc.set_xlabel("Position (m)", fontsize=10)

fig5 = Figure(figsize=(4,4))

spd = fig5.add_subplot(111)

spd.grid(True)

meter_values = values

spd.plot(time_low_pass,speed_low_pass_data,label='values')

spd.set_title("Speed vs Time",fontsize=10)

spd.set_ylabel("Speed (m/s)", fontsize=10)

spd.set_xlabel("Time (ms)", fontsize=10)

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fig6 = Figure(figsize=(4,4))

dist_spd = fig6.add_subplot(111)

dist_spd.grid(True)

meter_values = values

dist_spd.plot(low_pass_data,speed_low_pass_data,label='values')

dist_spd.set_title("Speed vs Position",fontsize=10)

dist_spd.set_ylabel("Speed (m/s)", fontsize=10)

dist_spd.set_xlabel("Position (m)", fontsize=10)

canvas = FigureCanvasTkAgg(fig4, master=self.master)

canvas.get_tk_widget().grid(row =2 ,column=6,padx=2,pady=2)

canvas.draw()

canvas = FigureCanvasTkAgg(fig5, master=self.master)

canvas.get_tk_widget().grid(row = 3,column=6,padx=2,pady=2)

canvas.draw()

canvas = FigureCanvasTkAgg(fig6, master=self.master)

canvas.get_tk_widget().grid(row = 2,column=25,padx=2,pady=2)

canvas.draw()

canvas = FigureCanvasTkAgg(fig1, master=self.master)

canvas.get_tk_widget().grid(row = 3,column=25,padx=2,pady=2)

canvas.draw()

#class mclass:

30


root = tk.Tk()

my_gui = MyFirstGUI(root)

root.mainloop()

31