Use class for controllers (sandialabs#406)

Author: rgcoe

examples/tutorial_1_WaveBot.ipynb

@@ -548,7 +548,7 @@
    "outputs": [],
    "source": [
     "plt.figure()\n",
-    "pto_tdom.sel(realization=0)['power'].loc['mech',:,:].plot()"
+    "pto_tdom['power'].sel(realization=0, type='mech').squeeze().plot()"
    ]
   },
   {

examples/tutorial_2_AquaHarmonics.ipynb

@@ -623,7 +623,7 @@
     "\n",
     "# Excitation and velocity\n",
     "ax1 = ax[0].twinx()\n",
-    "force_excitation = wec_tdom.sel(realization=0).force.sel(type=['Froude_Krylov', 'diffraction'])\n",
+    "force_excitation = wec_tdom.force.sel(realization=0, type=['Froude_Krylov', 'diffraction'])\n",
     "force_excitation = force_excitation.sum('type')/1e3\n",
     "force_excitation.plot(ax=ax[0], color='k')\n",
     "wec_tdom.sel(realization=0).vel.plot(ax=ax1, color='orange')\n",
@@ -634,7 +634,7 @@
     "ax[0].set_ylabel('Excitation force [kN]')\n",
     "\n",
     "# Forces\n",
-    "(wec_tdom.sel(realization=0).force.sel(type='PTO')/1e3).plot(\n",
+    "(wec_tdom.force.sel(realization=0,type='PTO')/1e3).plot(\n",
     "    ax=ax[1], \n",
     "    label='PTO force in WEC frame',\n",
     ")\n",
@@ -679,8 +679,8 @@
     "ax[2].legend(loc='upper right',)\n",
     "\n",
     "# Power\n",
-    "(pto_tdom.sel(realization=0)['power'].sel(type='mech')/1e3).plot(ax=ax[3], label='Mech. power')\n",
-    "(pto_tdom.sel(realization=0)['power'].sel(type='elec')/1e3).plot(ax=ax[3], linestyle='dashed', \n",
+    "(pto_tdom['power'].sel(realization=0, type='mech')/1e3).plot(ax=ax[3], label='Mech. power')\n",
+    "(pto_tdom['power'].sel(realization=0, type='elec')/1e3).plot(ax=ax[3], linestyle='dashed', \n",
     "                             label=\"Elec. power\")\n",
     "ax[3].grid(color='0.75', linestyle='-', linewidth=0.5, axis='x')\n",
     "ax[3].legend(loc='upper right')\n",

examples/tutorial_3_LUPA.ipynb

@@ -1460,6 +1460,11 @@
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
    "version": "3.11.8"
+  },
+  "vscode": {
+   "interpreter": {
+    "hash": "a3e13d9eb6391ec8c830b5b864d7e2cac256aef786c5e95ba02dc5258710976f"
+   }
   }
  },
  "nbformat": 4,

examples/tutorial_4_Pioneer.ipynb

@@ -506,7 +506,12 @@
     "pto_impedance = np.array([[pto_impedance_11, pto_impedance_12],\n",
     "                        [pto_impedance_21, pto_impedance_22]])\n",
     "\n",
-    "pto = wot.pto.PTO(ndof, kinematics=[1], controller=None, impedance=pto_impedance, loss=None, names=None)\n"
+    "pto = wot.pto.PTO(ndof, \n",
+    "                  kinematics=[1], \n",
+    "                  controller=wot.controllers.unstructured_controller(), \n",
+    "                  impedance=pto_impedance, \n",
+    "                  loss=None, \n",
+    "                  names=None)\n"
    ]
   },
   {
@@ -1041,7 +1046,12 @@
     "pto_impedance = np.array([[pto_impedance_11, pto_impedance_12],\n",
     "                        [pto_impedance_21, pto_impedance_22]])\n",
     "\n",
-    "pto = wot.pto.PTO(ndof, kinematics=[1], controller=None, impedance=pto_impedance, loss=None, names=None)\n",
+    "pto = wot.pto.PTO(ndof, \n",
+    "                  kinematics=[1], \n",
+    "                  controller=wot.controllers.unstructured_controller(), \n",
+    "                  impedance=pto_impedance, \n",
+    "                  loss=None, \n",
+    "                  names=None)\n",
     "\n",
     "wec_lin = wot.WEC.from_impedance(freq_irreg, \n",
     "                            Zi_intrp_irreg,\n",