Implement beam

src/controllers.jl

@@ -36,9 +36,9 @@ function run_control_2DOF(P::AbstractProcess,sysFB, sysFF=nothing; duration = 10
 			y[:,i]     = measure(P)
 			r[:,i]     = reference(t)
 			u[:,i]     = calc_control(i) # y,r must be updated before u
-			control(P, [clamp.(u[j,i], input_range(P)[j]...) for j=1:nu])
+			control(P, [clamp.(u[j,i], inputrange(P)[j]...) for j=1:nu])
 		end
 	end
 	finalize(P)
-	y,u,r
+	y',u',r'
 end

src/interface_implementations/ballandbeam.jl

 # Interface implementation Ball And Beam ====================================================
 
-export BallAndBeam, BallAndBeamSimulator, BallAndBeamType
+export Beam, BeamSimulator, BeamType, BallAndBeam, BallAndBeamSimulator, BeamOrBallAndBeam
+
+struct Beam <: PhysicalProcess
+    h::Float64
+    bias::Float64
+end
+Beam() = Beam(0.01, 0.0)
+
+struct BeamSimulator <: SimulatedProcess
+    h::Float64
+    state::Vector{Float64} # angle,ω
+end
+BeamSimulator() = BeamSimulator(0.01, zeros(2))
 
 struct BallAndBeam <: PhysicalProcess
     h::Float64
@@ -14,22 +26,32 @@ struct BallAndBeamSimulator <: SimulatedProcess
 end
 BallAndBeamSimulator() = BallAndBeamSimulator(0.01, zeros(4))
 
-const BallAndBeamType = Union{BallAndBeam, BallAndBeamSimulator}
+
+const BeamType = Union{Beam, BeamSimulator}
+const BallAndBeamType   = Union{BallAndBeam, BallAndBeamSimulator}
+const BeamOrBallAndBeam = Union{BeamType, BallAndBeamType}
+
+
+num_outputs(p::BeamType)        = 1
 num_outputs(p::BallAndBeamType) = 2
-num_inputs(p::BallAndBeamType)  = 1
+num_inputs(p::BeamOrBallAndBeam)= 1
+outputrange(p::Beam)            = [(-10,10)]
 outputrange(p::BallAndBeamType) = [(-10,10),(-1,1)] # Beam angle, Ball position
-inputrange(p::BallAndBeamType)  = [(-10,10)]
+inputrange(p::BeamOrBallAndBeam)= [(-10,10)]
+isstable(p::Beam)               = true
 isstable(p::BallAndBeamType)    = false
-isasstable(p::BallAndBeamType)  = false
-sampletime(p::BallAndBeamType)  = p.h
-bias(p::BallAndBeam)            = p.bias
+isasstable(p::BeamOrBallAndBeam)  = false
+sampletime(p::BeamOrBallAndBeam)  = p.h
+bias(p::BeamOrBallAndBeam)            = p.bias
 bias(p::BallAndBeamSimulator)   = 0
 
 
-control(p::BallAndBeam, u)  = ccall((:comedi_write, comedipath),Int32,
+control(p::BeamOrBallAndBeam, u) = ccall((:comedi_write, comedipath),Int32,
                                         (Int32,Int32,Int32,Int32),0,1,1,num2io(u[1]+p.bias))
-measure(p::BallAndBeam)     = io2num(ccall((:comedi_read,comedipath), Int32,
+measure(p::Beam) = io2num(ccall((:comedi_read,comedipath), Int32,
                                         (Int32,Int32,Int32), 0,0,0))
+measure(p::BallAndBeam) = [io2num(ccall((:comedi_read,comedipath), Int32,
+(Int32,Int32,Int32), 0,0,i)) for i = 0:1]
 
 control(p::BallAndBeamSimulator, u)  = error("Not yet implemented")
 measure(p::BallAndBeamSimulator)     = [p.state[1], p.state[3]]
@@ -39,7 +61,7 @@ const conversion = 65535/20
 io2num(x) = x/conversion -10            # Converts from io to float
 num2io(x) = round(Int32,x*100 + 2048)   # Converts from regular number to io
 
-initialize(p::BallAndBeam)  = ccall((:comedi_start, comedipath),Int32,(Int32,), 0)
-finalize(p::BallAndBeam)    = (control(p,0);ccall((:comedi_stop, comedipath),Int32,(Int32,), 0))
+initialize(p::BeamOrBallAndBeam)  = ccall((:comedi_start, comedipath),Int32,(Int32,), 0)
+finalize(p::BeamOrBallAndBeam)    = (control(p,0);ccall((:comedi_stop, comedipath),Int32,(Int32,), 0))
 initialize(p::BallAndBeamSimulator)  = nothing
 finalize(p::BallAndBeamSimulator)    = nothing