From 0047c953156941db0f3436f629195446dd5d58d7 Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <cont-frb@ulund.org>
Date: Mon, 21 Aug 2017 15:58:11 +0200
Subject: [PATCH] Start implement b&b simulator
---
src/interface_implementations/ballandbeam.jl | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/interface_implementations/ballandbeam.jl b/src/interface_implementations/ballandbeam.jl
index 6e9a8fd..e4a8a63 100644
--- a/src/interface_implementations/ballandbeam.jl
+++ b/src/interface_implementations/ballandbeam.jl
@@ -10,8 +10,9 @@ BallAndBeam() = BallAndBeam(0.01, 0.0)
struct BallAndBeamSimulator <: SimulatedProcess
h::Float64
+ state::Vector{Float64} # pos,vel,angle,ω
end
-BallAndBeamSimulator() = BallAndBeamSimulator(0.01)
+BallAndBeamSimulator() = BallAndBeamSimulator(0.01, zeros(4))
const BallAndBeamType = Union{BallAndBeam, BallAndBeamSimulator}
num_outputs(p::BallAndBeamType) = 2
@@ -28,7 +29,7 @@ measure(p::BallAndBeam) = io2num(ccall((:comedi_read,comedipath), Int32,
(Int32,Int32,Int32), 0,0,0))
control(p::BallAndBeamSimulator, u) = error("Not yet implemented")
-measure(p::BallAndBeamSimulator) = error("Not yet implemented")
+measure(p::BallAndBeamSimulator) = [p.state[1], p.state[3]]
const comedipath = Pkg.dir("LabProcesses","c","comedi_bridge.so")
const conversion = 65535/20
--
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