Commits · master · control_book / control_book_public_solutions

04 Jan, 2023 1 commit

Minor changes using a "main" function call to plot things. May be · 0d92f2f4

Marc Killpack authored Jan 04, 2023

overwritten by Dr. Beard flattening the folder structure.

Changes to be committed:
    modified:   _A_arm/python/hw15/armParamHW15.py
    modified:   _A_arm/python/hw16/armParamHW16.py

0d92f2f4

29 Nov, 2022 1 commit

Fixing file back to the way it used to be for observer design. · 2da162c0

Marc Killpack authored Nov 28, 2022

Changes to be committed:
    modified:   _A_arm/python/hw13/armParamHW13.py
    deleted:    _A_arm/python/hw16/armFreqInputSim.py

2da162c0

28 Nov, 2022 1 commit

Minor changes trying to either add clearer comments, make it agree · 704df20f

Marc Killpack authored Nov 28, 2022

with homework problems in book, or add "digital_filter" for pendulum
case study. Case study B (cart pendulum) works for digital filter now,
but not state space. Not sure why.

Changes to be committed:
	modified:   _A_arm/python/hw11/armController.py
	modified:   _A_arm/python/hw11/armParamHW11.py
	modified:   _A_arm/python/hw11_armSim.py
	modified:   _A_arm/python/hw7/armController.py
	modified:   _B_pendulum/python/hw10_pendulumSim.py
	modified:   _B_pendulum/python/hw11/pendulumParamHW11.py
	modified:   _B_pendulum/python/hw18/pendulumController.py
	modified:   _B_pendulum/python/hw18_pendulumSim.py
	modified:   _B_pendulum/python/hw8/pendulumParamHW8.py
	modified:   _C_satellite/python/hw11/satelliteParamHW11.py
	modified:   _C_satellite/python/hw18/satelliteController.py
	modified:   _C_satellite/python/hw18_satelliteSim.py

704df20f

05 Oct, 2022 1 commit
- Someone had changed P.ell = 0.5, but book says 1.0!! · 70a19419
  Marc Killpack authored Oct 05, 2022
```
Changes to be committed:
	modified:   _B_pendulum/python/pendulumParam.py
```
  70a19419
04 Oct, 2022 2 commits

These changes are to make it match the book description better. · 221d5e78

Marc Killpack authored Oct 04, 2022

Changes to be committed:
    modified:   _B_pendulum/python/hw08_pendulumSim.py
    modified:   _B_pendulum/python/hw8/pendulumController.py
    modified:   _B_pendulum/python/hw8/pendulumParamHW8.py

221d5e78

Minor changes to make the solutions match the book descriptions · 49d70984

Marc Killpack authored Oct 03, 2022

better. And to try and clarify some points that may be confusing for
students.

Changes to be committed:
    modified:   _A_arm/python/hw02_armSim.py
    modified:   _A_arm/python/hw7/armParamHW7.py
    modified:   _A_arm/python/hw8/armParamHW8.py
    modified:   _C_satellite/python/hw08_satelliteSim.py
    modified:   _C_satellite/python/hw8/satelliteController.py
    modified:   _C_satellite/python/hw8/satelliteParamHW8.py
    modified:   _C_satellite/python/satelliteParam.py

49d70984

18 Sep, 2022 1 commit

Added three simple files to the public repo to allow students to check · 093ecde9

Marc Killpack authored Sep 17, 2022

their dynamics for at least one input.

Changes to be committed:
  new file:   _D_mass/python/test_dynamics.py
  new file:   _E_blockbeam/python/test_dynamics.py
  new file:   _F_planar_vtol/python/test_dynamics.py

093ecde9

06 Sep, 2022 1 commit

Fixing visualization and other files provided to students for homework · 81e8e9c5

Marc Killpack authored Sep 05, 2022

to make them better match the book and the example case studies.

Changes to be committed:
modified: ../../_D_mass/python/hw13/dataPlotterObserver.py
modified: ../../_D_mass/python/hw2/dataPlotter.py
modified: ../../_D_mass/python/hw2/massAnimation.py
modified: ../../_D_mass/python/massParam.py
renamed: ../../_E_ballbeam/python/ballbeamParam.py -> ../../_E_blockbeam/python/blockbeamParam.py
renamed: ../../_E_ballbeam/python/hw13/dataPlotterObserver.py -> ../../_E_blockbeam/python/hw13/dataPlotterObserver.py
renamed: ../../_E_ballbeam/python/hw2/ballbeamAnimation.py -> ../../_E_blockbeam/python/hw2/blockbeamAnimation.py
renamed: ../../_E_ballbeam/python/hw2/dataPlotter.py -> ../../_E_blockbeam/python/hw2/dataPlotter.py
renamed: ../../_E_ballbeam/python/hw2/signalGenerator.py -> ../../_E_blockbeam/python/hw2/signalGenerator.py
modified: VTOLParam.py
modified: hw13/dataPlotterObserver.py
modified: h...

81e8e9c5

30 Aug, 2022 3 commits

Missed some dimensioning in case study A, hw 12. · dbf0d327

Marc Killpack authored Aug 30, 2022

Changes to be committed:
	modified:   _A_arm/python/hw12/armController.py
	modified:   _A_arm/python/hw12/armParamHW12.py
	modified:   _A_arm/python/hw12_armSim.py

dbf0d327

Removed all examples of using "item" instead of slicing/indexing in · 26ed5a4e

Marc Killpack authored Aug 30, 2022

numpy arrays. Also, tried to just fix some dimensioning that we had
cobbled together for a while. I'm sure there's still things to
improve relative to this though.

Changes to be committed:
	modified:   _A_arm/python/hw18/armController.py
	modified:   _B_pendulum/python/hw10/pendulumController.py
	modified:   _B_pendulum/python/hw11/pendulumController.py
	modified:   _B_pendulum/python/hw12/pendulumController.py
	modified:   _B_pendulum/python/hw12/pendulumParamHW12.py
	modified:   _B_pendulum/python/hw13/dataPlotterObserver.py
	modified:   _B_pendulum/python/hw13/pendulumController.py
	modified:   _B_pendulum/python/hw13/pendulumParamHW13.py
	modified:   _B_pendulum/python/hw14/pendulumController.py
	modified:   _B_pendulum/python/hw14/pendulumParamHW14.py
	modified:   _B_pendulum/python/hw18/pendulumController.py
	modified:   _B_pendulum/python/hw18/pendulumLoopShapingOuter.py
	modified:   _B_pendulum/python/hw18_pendulumSim.py
	modified:   _B_pendulum/python/hw2/dataPlotter.py
	modified:   _B_pendulum/python/hw2/pendulumAnimation.py
	modified:   _B_pendulum/python/hw3/pendulumDynamics.py
	modified:   _B_pendulum/python/hw8/pendulumController.py
	modified:   _C_satellite/python/hw10/satelliteController.py
	modified:   _C_satellite/python/hw11/satelliteController.py
	modified:   _C_satellite/python/hw12/satelliteController.py
	modified:   _C_satellite/python/hw12/satelliteParamHW12.py
	modified:   _C_satellite/python/hw13/dataPlotterObserver.py
	modified:   _C_satellite/python/hw13/satelliteController.py
	modified:   _C_satellite/python/hw13/satelliteParamHW13.py
	modified:   _C_satellite/python/hw14/satelliteController.py
	modified:   _C_satellite/python/hw14/satelliteParamHW14.py
	modified:   _C_satellite/python/hw18/satelliteController.py
	modified:   _C_satellite/python/hw18_satelliteSim.py
	modified:   _C_satellite/python/hw2/dataPlotter.py
	modified:   _C_satellite/python/hw2/satelliteAnimation.py
	modified:   _C_satellite/python/hw3/satelliteDynamics.py
	modified:   _C_satellite/python/hw8/satelliteController.py
	modified:   _C_satellite/python/hw8/satelliteParamHW8.py

26ed5a4e

This is getting rid of "item" usage, and changing it to indexing in · db21e91f

Marc Killpack authored Aug 29, 2022

numpy arrays. We enforce column vectors to match the linear algebra,
but that's not strictly required. In fact, current implementation
requires reshaping arrays sometimes to not break stuff. But hopefully
it's at least clear to students.

Changes to be committed:
	modified:   python/hw10/armController.py
	modified:   python/hw11/armController.py
	modified:   python/hw11_armSim.py
	modified:   python/hw12/armController.py
	modified:   python/hw12/armParamHW12.py
	modified:   python/hw12_armSim.py
	modified:   python/hw13/armController.py
	modified:   python/hw13/armParamHW13.py
	modified:   python/hw13/dataPlotterObserver.py
	modified:   python/hw14/armController.py
	modified:   python/hw14/armParamHW14.py
	modified:   python/hw18/armController.py
	modified:   python/hw2/dataPlotter.py
	modified:   python/hw3/armDynamics.py
	modified:   python/hw7/armController.py
	modified:   python/hw8/armController.py

db21e91f

29 Aug, 2022 3 commits
- Finished updating file structure for case study C as well. HW 8 is · 47a616a0
  Marc Killpack authored Aug 29, 2022
```
unstable, and HW 18 breaks because of a data type. But it's
close. Will revisit in next pass.
```
  47a616a0
- Moved all simulink and matlab files to "unsupported". It's just been · fdc1519a
  Marc Killpack authored Aug 29, 2022
```
3 years or so since we've updated them. If someone looks at and updates
them according to the book, then we can easily move them back.
```
  fdc1519a
- Completed all file structure changes to case study B. Some residual · 524908ee
  Marc Killpack authored Aug 29, 2022
```
errors in HW 8 and 18. Will fix in next round shorly.
```
  524908ee
21 Aug, 2022 1 commit

Finished changes to all HW for case study A. State space · a4ec39e9

Marc Killpack authored Aug 20, 2022

method for hw18 doesn't work. Not sure why.

Changes to be committed:
	modified:   armParam.py
	modified:   hw14/armController.py
	modified:   hw14/armParamHW14.py
	renamed:    hw14/armSim.py -> hw14_armSim.py
	modified:   hw15/armParamHW15.py
	new file:   hw15_plot.py
	modified:   hw16/armParamHW16.py
	new file:   hw16_plot.py
	modified:   hw17/armParamHW17.py
	new file:   hw17_plot.py
	modified:   hw18/armController.py
	renamed:    hw18/loopshape_arm.py -> hw18/armLoopShaping.py
	renamed:    hw18/discreteFilter.py -> hw18/digitalFilter.py
	deleted:    hw18/helper_functions.py
	modified:   hw18/loopshape_tools.py
	renamed:    hw18/armSim.py -> hw18_armSim.py
	new file:   hw18_plot.py

a4ec39e9

20 Aug, 2022 1 commit

Just making progress with each hw. This is arm hw10-13. · 6aa847ba

Marc Killpack authored Aug 20, 2022

Changes to be committed:
	modified:   hw10/armController.py
	modified:   hw10/armParamHW10.py
	renamed:    hw10/armSim.py -> hw10_armSim.py
	modified:   hw11/armController.py
	deleted:    hw11/armController_old.py
	modified:   hw11/armParamHW11.py
	renamed:    hw11/armSim.py -> hw11_armSim.py
	modified:   hw12/armController.py
	modified:   hw12/armParamHW12.py
	renamed:    hw12/armSim.py -> hw12_armSim.py
	modified:   hw13/armController.py
	modified:   hw13/armParamHW13.py
	renamed:    hw13/armSim.py -> hw13_armSim.py

6aa847ba

19 Aug, 2022 1 commit

Moved all matlab and simulink to deprecated folder (or · 5604356b

Marc Killpack authored Aug 19, 2022

"unsupported"). Started fixing folder structure for debugging and
intellisense to work in vs code. Halfway through case study A.

Changes to be committed:
renamed: hw2/armSim.py -> hw02_armSim.py
renamed: hw3/armSim.py -> hw03_armSim.py
renamed: hw7/armSim.py -> hw07_armSim.py
renamed: hw8/armSim.py -> hw08_armSim.py
renamed: ../../_a_arm/python/hw16/armFreqInputSim.py -> hw16/armFreqInputSim.py
renamed: ../../_a_arm/python/hw18/discreteFilter.py -> hw18/discreteFilter.py
renamed: ../../_a_arm/python/hw18/helper_functions.py -> hw18/helper_functions.py
modified: hw7/armController.py
modified: hw7/armParamHW7.py
modified: hw8/armController.py
modified: hw8/armParamHW8.py
renamed: ../matlab/armParam.m -> ../unsupported_languages/matlab/armParam.m
renamed: ../matlab/hw10/PIDControl.m -> ../unsupported_languages/matlab/hw10/PIDControl.m
renamed: ../matlab/hw10/armController.m -> ../unsupported_languages/matlab/hw10/armController.m
renamed: ../matlab/hw10/armParamHW10.m -> ../unsupported_languages/matlab/hw10/armParamHW10.m
renamed: ../matlab/hw10/armSim.m -> ../unsupported_languages/matlab/hw10/armSim.m
renamed: ../matlab/hw11/armController.m -> ../unsupported_languages/matlab/hw11/armController.m
renamed: ../matlab/hw11/armParamHW11.m -> ../unsupported_languages/matlab/hw11/armParamHW11.m
renamed: ../matlab/hw11/armSim.m -> ../unsupported_languages/matlab/hw11/armSim.m
renamed: ../matlab/hw12/armController.m -> ../unsupported_languages/matlab/hw12/armController.m
renamed: ../matlab/hw12/armParamHW12.m -> ../unsupported_languages/matlab/hw12/armParamHW12.m
renamed: ../matlab/hw12/armSim.m -> ../unsupported_languages/matlab/hw12/armSim.m
renamed: ../matlab/hw13/armController.m -> ../unsupported_languages/matlab/hw13/armController.m
renamed: ../matlab/hw13/armParamHW13.m -> ../unsupported_languages/matlab/hw13/armParamHW13.m
renamed: ../matlab/hw13/armSim.m -> ../unsupported_languages/matlab/hw13/armSim.m
renamed: ../matlab/hw13/dataPlotterObserver.m -> ../unsupported_languages/matlab/hw13/dataPlotterObserver.m
renamed: ../matlab/hw14/armController.m -> ../unsupported_languages/matlab/hw14/armController.m
renamed: ../matlab/hw14/armParamHW14.m -> ../unsupported_languages/matlab/hw14/armParamHW14.m
renamed: ../matlab/hw14/armSim.m -> ../unsupported_languages/matlab/hw14/armSim.m
renamed: ../matlab/hw15/armParamHW15.m -> ../unsupported_languages/matlab/hw15/armParamHW15.m
renamed: ../matlab/hw16/armParamHW16.m -> ../unsupported_languages/matlab/hw16/armParamHW16.m
renamed: ../matlab/hw17/armParamHW17.m -> ../unsupported_languages/matlab/hw17/armParamHW17.m
renamed: ../matlab/hw18/armController.m -> ../unsupported_languages/matlab/hw18/armController.m
renamed: ../matlab/hw18/armSim.m -> ../unsupported_languages/matlab/hw18/armSim.m
renamed: ../matlab/hw18/loopshape_arm.m -> ../unsupported_languages/matlab/hw18/loopshape_arm.m
renamed: ../matlab/hw18/transferFunction.m -> ../unsupported_languages/matlab/hw18/transferFunction.m
renamed: ../matlab/hw2/armAnimation.m -> ../unsupported_languages/matlab/hw2/armAnimation.m
renamed: ../matlab/hw2/armParamHW2.m -> ../unsupported_languages/matlab/hw2/armParamHW2.m
renamed: ../matlab/hw2/armSim.m -> ../unsupported_languages/matlab/hw2/armSim.m
renamed: ../matlab/hw2/dataPlotter.m -> ../unsupported_languages/matlab/hw2/dataPlotter.m
renamed: ../matlab/hw2/signalGenerator.m -> ../unsupported_languages/matlab/hw2/signalGenerator.m
renamed: ../matlab/hw3/armDynamics.m -> ../unsupported_languages/matlab/hw3/armDynamics.m
renamed: ../matlab/hw3/armParamHW3.m -> ../unsupported_languages/matlab/hw3/armParamHW3.m
renamed: ../matlab/hw3/armSim.m -> ../unsupported_languages/matlab/hw3/armSim.m
renamed: ../matlab/hw7/armController.m -> ../unsupported_languages/matlab/hw7/armController.m
renamed: ../matlab/hw7/armParamHW7.m -> ../unsupported_languages/matlab/hw7/armParamHW7.m
renamed: ../matlab/hw7/armSim.m -> ../unsupported_languages/matlab/hw7/armSim.m
renamed: ../matlab/hw8/armController.m -> ../unsupported_languages/matlab/hw8/armController.m
renamed: ../matlab/hw8/armParamHW8.m -> ../unsupported_languages/matlab/hw8/armParamHW8.m
renamed: ../matlab/hw8/armSim.m -> ../unsupported_languages/matlab/hw8/armSim.m
renamed: ../simulink/arm_dynamics.m -> ../unsupported_languages/simulink/arm_dynamics.m
renamed: ../simulink/arm_param.m -> ../unsupported_languages/simulink/arm_param.m
renamed: ../simulink/drawArm.m -> ../unsupported_languages/simulink/drawArm.m
renamed: ../simulink/hw10/armParamHW10.m -> ../unsupported_languages/simulink/hw10/armParamHW10.m
renamed: ../simulink/hw10/arm_ctrl.m -> ../unsupported_languages/simulink/hw10/arm_ctrl.m
renamed: ../simulink/hw10/arm_sim.slx -> ../unsupported_languages/simulink/hw10/arm_sim.slx
renamed: ../simulink/hw11/armParamHW11.m -> ../unsupported_languages/simulink/hw11/armParamHW11.m
renamed: ../simulink/hw11/arm_ctrl.m -> ../unsupported_languages/simulink/hw11/arm_ctrl.m
renamed: ../simulink/hw11/arm_sim.slx -> ../unsupported_languages/simulink/hw11/arm_sim.slx
renamed: ../simulink/hw12/armParamHW12.m -> ../unsupported_languages/simulink/hw12/armParamHW12.m
renamed: ../simulink/hw12/arm_ctrl.m -> ../unsupported_languages/simulink/hw12/arm_ctrl.m
renamed: ../simulink/hw12/arm_sim.slx -> ../unsupported_languages/simulink/hw12/arm_sim.slx
renamed: ../simulink/hw13/armParamHW13.m -> ../unsupported_languages/simulink/hw13/armParamHW13.m
renamed: ../simulink/hw13/arm_ctrl.m -> ../unsupported_languages/simulink/hw13/arm_ctrl.m
renamed: ../simulink/hw13/arm_sim.slx -> ../unsupported_languages/simulink/hw13/arm_sim.slx
renamed: ../simulink/hw14/armParamHW14.m -> ../unsupported_languages/simulink/hw14/armParamHW14.m
renamed: ../simulink/hw14/arm_ctrl.m -> ../unsupported_languages/simulink/hw14/arm_ctrl.m
renamed: ../simulink/hw14/arm_sim.slx -> ../unsupported_languages/simulink/hw14/arm_sim.slx
renamed: ../simulink/hw15/armParamHW15.m -> ../unsupported_languages/simulink/hw15/armParamHW15.m
renamed: ../simulink/hw16/armParamHW16.m -> ../unsupported_languages/simulink/hw16/armParamHW16.m
renamed: ../simulink/hw17/armParamHW17.m -> ../unsupported_languages/simulink/hw17/armParamHW17.m
renamed: ../simulink/hw18/armParamHW18.m -> ../unsupported_languages/simulink/hw18/armParamHW18.m
renamed: ../simulink/hw18/arm_ctrl.m -> ../unsupported_languages/simulink/hw18/arm_ctrl.m
renamed: ../simulink/hw18/arm_sim.slx -> ../unsupported_languages/simulink/hw18/arm_sim.slx
renamed: ../simulink/hw18/loopshape_arm.m -> ../unsupported_languages/simulink/hw18/loopshape_arm.m
renamed: ../simulink/hw7/armParamHW7.m -> ../unsupported_languages/simulink/hw7/armParamHW7.m
renamed: ../simulink/hw7/arm_sim.slx -> ../unsupported_languages/simulink/hw7/arm_sim.slx
renamed: ../simulink/hw8/armParamHW8.m -> ../unsupported_languages/simulink/hw8/armParamHW8.m
renamed: ../simulink/hw8/arm_sim.slx -> ../unsupported_languages/simulink/hw8/arm_sim.slx
renamed: ../simulink/hw_a/arm_sim.slx -> ../unsupported_languages/simulink/hw_a/arm_sim.slx
renamed: ../simulink/hw_b/arm_sim.slx -> ../unsupported_languages/simulink/hw_b/arm_sim.slx
renamed: ../simulink/tv.jpg -> ../unsupported_languages/simulink/tv.jpg

5604356b

14 Jun, 2022 1 commit
- Update README.md · 0c9e914c
  Randy Beard authored Jun 14, 2022
  
  0c9e914c
31 May, 2022 2 commits
- Update README.md · 04b9838d
  Randy Beard authored May 31, 2022
  
  04b9838d
- Update README.md, bookcover.png · 287246b8
  Randy Beard authored May 31, 2022
  
  287246b8
06 Dec, 2021 1 commit
- Various changes including arm loopshaping · 5136f419
  Randy Beard authored Dec 06, 2021
  
  5136f419
31 Aug, 2021 1 commit
- added black file structure for homework problems · 44de1413
  Randy Beard authored Aug 31, 2021
  
  44de1413
26 Aug, 2021 1 commit
- Merge branch '2021_winter' into 'master' · 94755c3f
  Randy Beard authored Aug 26, 2021
```
2021 winter merget

See merge request !4
```
  94755c3f
23 Aug, 2021 1 commit
- final public code updates · 8d03a398
  Marc Killpack authored Aug 23, 2021
```
Final code updates for W2021.
```
  8d03a398
21 Aug, 2021 1 commit
- Chap 15-17 updates to improve/update textbook plots · 08a92a23
  Marc Killpack authored Aug 21, 2021
```
See title.
```
  08a92a23
19 Aug, 2021 2 commits
- updating hw 15 and 16 for pendulum at least. · f232d5c5
  Marc Killpack authored Aug 19, 2021
```
see title.
```
  f232d5c5
- added path to website for slider bar to implement later. · 3ac2e96e
  Marc Killpack authored Aug 18, 2021
  
  3ac2e96e
18 Aug, 2021 5 commits

Create armFreqInputSim.py · c53bd43a

Marc Killpack authored Aug 18, 2021

keeping a record for future reference to help students understand frequency response.

c53bd43a

Merge branch '2021_winter' of... · a5fe7202

Marc Killpack authored Aug 18, 2021

Merge branch '2021_winter' of https://magiccvs.byu.edu/gitlab/control_book/control_book_public_solutions into 2021_winter

a5fe7202

case study A updates for Winter 2021 · 0a33fe4d

Marc Killpack authored Aug 18, 2021

Minor changes for consistency to hw 10-12. Major changes to HW 15-18 to try and improve presentation of loopshaping.

0a33fe4d

case study B · 9f8438c9

Marc Killpack authored Aug 18, 2021

minor changes to fix some inconsistencies between the book and homework. Chapter 15-18 examples have not yet been updated liked Case studies A and C though.

9f8438c9

Satellite case study changes · bb714a2e

Marc Killpack authored Aug 18, 2021

The largest changes were in the loop shaping examples. I've restructured the code to only plot when the individual files are run, but to generate the transfer functions when imported by later homeworks (like hw 18 importing things from hw 16 and 17). I also tried to make things more consistent (so that HW 10 uses the same parameters calculated from HW 8, etc.).

bb714a2e

02 Mar, 2021 1 commit
- Changes to the satellite example--chapters 16-17. · 51f40fd4
  Cammy Peterson authored Mar 01, 2021
  
  51f40fd4
06 Jan, 2021 4 commits
- .gitignore fix · aee15aeb
  Randy Beard authored Jan 06, 2021
  
  aee15aeb
- added old directories to .gitignore · 89863c8e
  Randy Beard authored Jan 06, 2021
  
  89863c8e
- Merge branch 'feature_jupyter' into 'master' · e5a7d5ea
  Cammy Peterson authored Jan 05, 2021
```
Feature jupyter

See merge request !3
```
  e5a7d5ea
- Merge branch '2020_fall_edits' into 'master' · 3df561c5
  Cammy Peterson authored Jan 05, 2021
```
2020 fall edits

See merge request !2
```
  3df561c5
01 Jan, 2021 1 commit
- Updated some of the loopshaping code for A, B, and C design solutions. · 88403a44
  Cammy Peterson authored Dec 31, 2020
  
  88403a44
31 Dec, 2020 2 commits
- Updates to some gains to get things to match with the Latex solutions. · b2575620
  Cammy Peterson authored Dec 31, 2020
  
  b2575620
- Updates to the Matlab portion of the code (updated state for pendulum in hw11... · 18c55341
  Cammy Peterson authored Dec 31, 2020
```
Updates to the Matlab portion of the code (updated state for pendulum in hw11 and hw12, changed reference to dynamics and dataPlotter, other misc.)
```
  18c55341