From 1a0f23a4423c4df9f48c8382902fd172eedc7698 Mon Sep 17 00:00:00 2001 From: Julian Salt <juliansaltducaju@gmail.com> Date: Mon, 26 Aug 2019 13:40:13 +0200 Subject: [PATCH] Update furuta.jl --- src/interface_implementations/furuta.jl | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/interface_implementations/furuta.jl b/src/interface_implementations/furuta.jl index 29be7bf..f3274cc 100644 --- a/src/interface_implementations/furuta.jl +++ b/src/interface_implementations/furuta.jl @@ -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 -- GitLab