# -*- coding: utf-8 -*-
"""
Created on Sun Jun  8 15:38:17 2014

@author: lba
"""

#import pdb

from numpy import *
#from matplotlib.pyplot import plot

K = 100			# Electromagnetic torque coefficient
D = 2				# Friction coefficient
J = 4				# Moment of inertia


dt = .001

betat = 0			# Initial position of the rotor
dbetat = 0			# Initial angular speed of the rotor

beta = zeros(len(t))
dbeta = zeros(len(t))
i = zeros(len(t))

beta[0] = betat
dbeta[0] = dbetat

#pdb.set_trace()

for j in arange(len(t)-1) + 1:
	it = A * betat + B * dbetat + alpha[j-1]	# i(t)
	i[j-1] = it
	d2betat = (K * it - D * dbetat) / J
	dbetat = dbetat + d2betat * dt
	betat = betat + dbetat * dt
	beta[j] = betat
	dbeta[j] = dbetat

it = A * betat + B * dbetat + alpha[j-1]
i[-1:] = it							# Fill the last value of i, which was not filled in the loop