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Commit 1a0f23a4 authored by Julian Salt's avatar Julian Salt
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Update furuta.jl

parent 651455f6
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1 merge request!3WIP: Started furuta implementation
Pipeline #743 canceled
Stage: test
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src/interface_implementations/furuta.jl
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......@@ -88,10 +88,15 @@ control(p::FurutaSimulator, u::Number) = p.s(u)
measure_phi(p::Furuta) = read(p.measure_phi)
phi(p::Furuta) = measure_phi(p)*2.56
measure_phi_dot(p::Furuta) = read(p.measure_phi_dot)
phi_dot(p::Furuta) = (measure_phi_dot(p) + 0.0708)*2.0
measure_theta(p::Furuta) = read(p.measure_theta)
theta(p::Furuta) = (measure_theta(p) + 5.1763)*0.3091
measure_theta_dot(p::Furuta) = read(p.measure_theta_dot)
theta_dot(p::Furuta) = (measure_theta_dot(p) - 0.022)*3.76
measure_theta_precise(p::Furuta) = read(p.measure_theta_precise)
theta_precise(p::Furuta) = (measure_theta_precise(p) + 0.7792)*0.058
measure_theta_dot_precise(p::Furuta) = read(p.measure_theta_dot_precise)
theta_dot_precise(p::Furuta) = measure_theta_dot_precise(p)*0.68
measure(p::FurutaSimulator) = p.s.sys.C*p.s.state
......
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