added t_i as return for XV_MultiSine

SineTools.py

@@ -709,20 +709,33 @@ def PR_MultiSine(
 # MultiSine for "quick calibration" based on displacement and velocity without
 # explicit time-information (used for Linearmotor-control)
 def XV_MultiSine(freq, phase, x0, tau, N=1000, deg=True):
-    """
-    returns two arrays of positions and velocities of length N which describe
-    a multi-sine motion with the frequencies given in f and displacement amplitudes 
-    given in x0.
-    
-    ----
-    
-    freq numpy array of frequencies\n
-    phase numpy array of initial phases\n
-    x0 numpy array of displacement amplitudes\n
-    tau double giving the duration of the motion
-    N  integer length of result array, len(x) and len(v)\n
-    deg boolean True:phase values in degree, False:phase values in rad
-    """
+    '''
+    Calculation of a multisine trajectory in terms of position and velocity based 
+    on given frequency, amplitude and phase
+
+    Parameters
+    ----------
+    freq : numpy.array float
+        Vector of frequencies of the sine components
+    phase : numpy array float
+        Vector of initial phases of the sine components
+    x0 : TYPE
+        Vector of amplitudes of the sine components
+    tau : float
+        duration for the whole motion
+    N : int, optional
+        number of samples. The default is 1000.
+    deg : boolean, optional
+        If True phases are in degree, if False in rad. The default is True/Deg.
+
+    Returns
+    -------
+    multi_x : numpy.array float
+        Calculated position vector
+    multi_v : numpy.array
+        Calculated velocity vector
+
+    '''
     assert (
         len(freq) == len(x0) == len(phase)
     ), "XV_MultiSine: Unequal length of frequency and amplitude arrays!"
@@ -737,6 +750,6 @@ def XV_MultiSine(freq, phase, x0, tau, N=1000, deg=True):
     for f, x, p in zip(freq, x0, phase):
         om = 2 * np.pi * f
         multi_x = multi_x + x * np.sin(om * ti + p)
-        multi_v = multi_v + x / om * np.cos(om * ti + p)
+        multi_v = multi_v + x * om * np.cos(om * ti + p)
 
-    return multi_x, multi_v
+    return ti, multi_x, multi_v