Bugfixes from lab

REQUIRE

@@ -5,4 +5,3 @@ Polynomials
 ProgressMeter
 JLD
 Documenter
-LabProcesses

src/BallAndBeam.jl

@@ -3,7 +3,7 @@ if "LabProcesses" ∉ keys(installed_packages)
 	Pkg.clone("https://gitlab.control.lth.se/processes/LabProcesses.jl.git")
 end
 
-__precompile__()
+#__precompile__()
 
 """
 This module contains a controller for the Ball and Beam. It connects to the
@@ -26,8 +26,9 @@ using LabProcesses, Plots, Polynomials, ControlSystems, ProgressMeter
 Perform fra-experiemnt For a single frequency `ω`. Called from inside `fra`
 """
 function run_experiment(P::BallAndBeamType, ω, duration, settling_time, amplitude, bias)
+	h = sampletime(P)
 	data = zeros(0:h:duration)
-	initialize(P)
+	LabProcesses.initialize(P)
 	for t = 0:h:settling_time
 		@periodically h begin
 			u              = amplitude*sin(ω*t)
@@ -41,16 +42,16 @@ function run_experiment(P::BallAndBeamType, ω, duration, settling_time, amplitu
 			control(P, u)
 		end
 	end
-	finalize(P)
+	LabProcesses.finalize(P)
 	data
 end
 
 """
-	∫ = integrate(fun::Function, data::Vector, ω::Real)
-Calculate sin or cos channel, call like this `integrate(sin, data, ω)` for sin-channel
+	∫ = integrate(fun::Function, data::Vector, ω::Real,h)
+Calculate sin or cos channel, call like this `integrate(sin, data, ω,h)` for sin-channel
 integration
 """
-integrate(fun,data,ω) = h*sum(fun(ω*(i-1)*h).*data[i] for i = 1:length(data))
+integrate(fun,data,ω,h) = h*sum(fun(ω*(i-1)*h).*data[i] for i = 1:length(data))
 
 """
 	fra(Ω::AbstractVector; kwargs...)
@@ -66,7 +67,7 @@ function fra(P::BallAndBeamType, Ω::AbstractVector;
 			settling_time  = 2,
 			nbr_of_periods = 10,
 			amplitude 	   = 1)
-
+    h = sampletime(P)
 	G = zeros(Complex, size(Ω)) 				      # Transfer function
 
 	@showprogress 1 "Running experiments"  for (i,ω) = enumerate(Ω)
@@ -74,8 +75,8 @@ function fra(P::BallAndBeamType, Ω::AbstractVector;
 		settling_time_i = ceil(settling_time/T)*T # Settling time even number of periods
 		duration        = nbr_of_periods*T
 		data            = run_experiment(P,ω,duration,settling_time_i, amplitude,bias)
-		sin_channel     = integrate(sin, data, ω)
-		cos_channel     = integrate(cos, data, ω)
+		sin_channel     = integrate(sin, data, ω, h)
+		cos_channel     = integrate(cos, data, ω, h)
 		G[i]            = 2/(amplitude*duration)*Complex(sin_channel, cos_channel)
 	end
 	Number[Ω G]
@@ -92,7 +93,7 @@ end
 
 function bopl!(G; kwargs...)
 	plot!(G[:,1].*(180/π), abs.(G[:,2]); ylabel="Magnitude", title="Bode plot", xscale=:log10, yscale=:log10, subplot=1, kwargs...)
-	plot!(G[:,1].*(180/π), angle.(G[:,2]); xlabel="Frequency [1/s]", ylabel="Phase", xscale=:log10, subplot=2, kwargs...)
+	plot!(G[:,1].*(180/π), angle.(G[:,2]).*(180/π); xlabel="Frequency [1/s]", ylabel="Phase", xscale=:log10, subplot=2, kwargs...)
     plot!(link=:x)
 end