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Register package #4
Description
Activity
In progress, see: JuliaRegistries/General#131388
@JuliaRegistrator register()
Release notes:
Added
- all public functions document
- add page
Performance Indicatorsto documentation - add page
Teststo documentation - add
WCLoggerfor logging - add
menu.jlto the folder examples - the functions
f_err(),v_err()andgamma()to calculate the performance indicators of the winch controller based on the log file of a test case
Changed
- reduced
df_highinwc_settings.yamlto reduce oscillations - all examples are making use of
wc_settings.yamlnow - the function
get_v_errorreturns nowNaNinstead of zero when the speed controller is inactive - improved the plots of the examples
Registration pull request created: JuliaRegistries/General/131929
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.6.0 -m "<description of version>" 0581b7c53310eea59483e283b9449267a4bc13b3 git push origin v0.6.0Registration pull request created: JuliaRegistries/General/131934
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.5.1 -m "<description of version>" 5159519bfa532657a72f05d148c0c7426d00dd37 git push origin v0.5.1@JuliaRegistrator register()
Release notes:
WinchControllers v0.5.2
Added
- the script
test_components.jl
Changed
- export
saturate()
- the script
Error while trying to register: Version 0.5.1 already exists
Registration pull request created: JuliaRegistries/General/131945
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.5.2 -m "<description of version>" 6d018ef041b4f67b9086cbce5c261f2801dc2bbe git push origin v0.5.2@JuliaRegistrator register()
Release notes:
Added
- the functions
get_v_set(),get_f_err() - the script
autotune.jl, using the NOMAD optimizer - added a documentation page for the autotuning feature
- added the function
install_examples()and updated the docu accordingly
- the functions
Registration pull request created: JuliaRegistries/General/132093
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.5.3 -m "<description of version>" a62c35e3dc6154ec5ec5b6817fd8b393769125dd git push origin v0.5.3@JuliaRegistrator register()
Release notes:
Added
- the package
RobustAndOptimalControl - the example
stability_ufc.jlwhich tests the stability of the upper force controller
Changed
- bump KiteUtils to 0.11.1
- use subprojects instead of TestEnv
- fix warnings
- the package
Registration pull request created: JuliaRegistries/General/149691
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.5.4 -m "<description of version>" 42c3ccda61716e926cb31fa1ba05de5f345de9c4 git push origin v0.5.4@JuliaRegistrator register()
Release notes:
WinchControllers v0.5.5 2026-03-23
Added
CITATION.cfffile.markdownlintconfiguration file
Registration pull request created: JuliaRegistries/General/151108
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.5.5 -m "<description of version>" 6447d1979ca077208042ed634dd224f03ceb74dd git push origin v0.5.5@JuliaRegistrator register()
Release notes:
WinchControllers v0.5.6 2026-08-14
Added
- REEL_OUT winch-controller mode:
WCSettings.mode("piecewise"/"reelout"), dispatched in
calc_vro;test = truestill selects"reelout"for backwards compatibility - the examples
test_reelout.jl(bench-test plot of the REEL_OUT law) andtest/test_reelout.jl
(headless tracking test), both added tomenu.jl/menu2.jl menu()andmenu2()functions defined bybin/run_julia, bringing upexamples/menu.jl/
examples/menu2.jlin an interactive sessionbin/installscript- default manifests
Manifest-v1.11.toml.defaultandManifest-v1.12.toml.default - CI badge in
README.md
Changed
- switched from
ControlPlotstoMakieControlPlotsthroughoutexamples/,test/,mwes/and
thesrc/docstrings bin/run_julia: forwards arguments tojuliaandcds to the repo root when invoked frombin/- improved
bin/install - CI workflow fixes
- REEL_OUT winch-controller mode:
Registration pull request created: JuliaRegistries/General/164524
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.5.6 -m "<description of version>" adeb5c8b5d7867c30192a2f848845552a15c7230 git push origin v0.5.6@JuliaRegistrator register()
Release notes:
WinchControllers v0.6.0 2026-08-16
Added
- BREAKING: torque controllers, moved here from V3Kite.jl:
WinchPosController(cascaded
length/speed control) andWinchForceController(compliant force mode), with
winch_position_torque!,winch_force_torque!,force_to_torqueand
winch_acc_limit - the
winch_pos_*/winch_speed_*/winch_ff_scale/winch_force_*/winch_len_kp/
winch_dampfields onWCSettings, tuning the torque controllers from the same
wc_settings.yaml DiscretePIDsdependency, used by the torque controllers' inner speed loop- documentation of the torque controllers in
docs/src/winchcontroller.md test/test_torque_controllers.jl, coveringforce_to_torque,winch_acc_limit,
the saturation/rate-limiting ofwinch_position_torque!and thef_lpf
initialization/force floor ofwinch_force_torque!build/to.gitignore
Changed
WCSettings.dtdefaults toNaNinstead of0.02, so a caller that forgets
to set it fails loudly instead of silently running at the wrong timestep
- BREAKING: torque controllers, moved here from V3Kite.jl:
Registration pull request created: JuliaRegistries/General/164690
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.6.0 -m "<description of version>" 85db1bdc4d456d490350e6bc29dfc98c39f83734 git push origin v0.6.0Registration pull request updated: JuliaRegistries/General/164690
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.6.0 -m "<description of version>" 85db1bdc4d456d490350e6bc29dfc98c39f83734 git push origin v0.6.0@JuliaRegistrator register()
Release notes:
WinchControllers v0.6.1 2026-09-03
Added
- soft force limiting for REEL_OUT mode:
WCSettings.force_limit("hard"/"soft")
replaces theUpperForceControllerwithcalc_vro_soft, a continuous law with no
threshold or hand-over calc_vro_soft, the exact inverse of thekv*sqrt(force)tension curve, smoothly
saturated atf_lowandf_highviasoftminus_beta/softplus_beta(helpers
sp_inv,soft_min)WCSettings.soft_lfc: also replaces theLowerForceControllerwith a straight
reel-in line through(0, v_reel_in)/(f_low, 0), handed over to the tension curve
viasoft_min(sharpnessreel_in_beta);WinchControllervalidates
reel_in_beta * kv * sqrt(f_low) >= 8and the othersoft_lfcinvariants at
construction timeWCSettings.force_limit_tau/force_limit_tau_rise: low-pass filtering (optionally
asymmetric attack/release) of the measured force beforecalc_vro_softinverts itLowPasscomponent insrc/components.jl, a first-order low-pass filter with
independent rise/fall time constantsWCSettings.use_awe_trim/f_high_awe_trim: blendcalc_vro_softtowards AWETrim's
own tension-curve constantsdata/wc_settings_soft_lfc.yaml/data/system_soft_lfc.yamland
examples/plot_winch_curve.jl, plotting the soft-limited winch curve with and
withoutsoft_lfctest/test_soft_limit.jl, coveringcalc_vro_soft,soft_min, theLowPass
filter and theWinchControllervalidation errors- documentation of soft force limiting in
docs/src/settings.md
Changed
f_err(logger)returns0.0instead of erroring when every logged force error is
NaN(e.g. undersoft_lfc, where neither force controller ever activates)
- soft force limiting for REEL_OUT mode:
Registration pull request created: JuliaRegistries/General/167042
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.6.1 -m "<description of version>" b8deb932a0393644f1a19194841e9288fcface12 git push origin v0.6.1@JuliaRegistrator register()
Release notes:
WinchControllers v0.6.2 2026-09-24
Added
- acceleration feed-forward in
winch_position_torque!: new keywordinertia(drum
inertia seen from the motor) andWinchPosController.acc_ff, set from the new
WCSettings.winch_acc_ff, addacc_ff·inertia·a_ref·gear_ratio/drum_radius,
wherea_refis the slope of the rate-limited speed setpoint; the default0.0
keeps the old behaviour WCSettings.v_sat_beta: optional softv_satclamp incalc_vro_softvia
soft_min; the defaultInfkeeps the hardmin(v, v_sat)- constants
AWE_TRIM_KV,AWE_TRIM_F_MIN,AWE_TRIM_F_MAXandAWE_TRIM_BETA,
the AWETrim winch curve thatuse_awe_trimblends towards examples/plot_winch_curve.jl:SOFT_LFC_ONLYmode, plotting force and winch power
over reel-out speed with aligned axis zeros in the paper's font and saving it as
winch_curve.pdf- support for Julia 1.13 in
bin/install, with the default manifest
Manifest-v1.13.toml.default - a testset for the acceleration feed-forward in
test/test_torque_controllers.jl
Changed
AWE_TRIM_F_MAX(the AWETrimf_max) lowered from 8000 N to 7200 Ndata/wc_settings_soft_lfc.yaml:f_low350 → 700 N,f_high8000 → 7200 N,
reel_in_beta11 → 20, andv_sat_beta: 10.0examples/plot_winch_curve.jl: the AWETrim curve now undoes the softv_sat
clamp; force swept up to 8400 N, the V3 winch's rated force- compat for
MakieControlPlotsin the examples and test projects raised to 0.1.18 - compat for
julia,LinearAlgebra,PkgandTestextended to 1.13 scripts/build_docu.jlinstallsLiveServerin the global environment if it is missing
- acceleration feed-forward in
Registration pull request created: JuliaRegistries/General/169316
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.6.2 -m "<description of version>" 73007d479b6792c5ae600d8145a062ee0468b3d1 git push origin v0.6.2@JuliaRegistrator register()
Release notes:
WinchControllers v0.6.3 2026-09-26
Changed
[compat]accepts KiteUtils 0.13 as well as 0.11.1 and 0.12
Removed
WCSettings.force_limit_tau_rise; the force low-pass of the soft limiter is now
always symmetric (force_limit_tau).LowPassstill supportstau_rise.
Registration pull request created: JuliaRegistries/General/169565
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.6.3 -m "<description of version>" 98d71080f5a356243dddcef6bd17cae94eaf125f git push origin v0.6.3@JuliaRegistrator register()
Release notes:
WinchControllers v0.6.4 2026-09-28
Added
- an Acknowledgements section in the README, crediting the MERIDIONAL project (EU Horizon
Europe grant agreement no. 101084216)
Changed
Manifest-v1.13.toml.defaultre-resolved with Julia 1.13.1; its Pkg also hashes
[sources], so a manifest from 1.13.0 warned that the project had changed
- an Acknowledgements section in the README, crediting the MERIDIONAL project (EU Horizon
Registration pull request created: JuliaRegistries/General/169696
Tagging
After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.
This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:
git tag -a v0.6.4 -m "<description of version>" 0c3e7eafe5f9c04cb1128eb32277ef7543164d61 git push origin v0.6.4
@JuliaRegistrator register()