From 6013f772aebac3ea684861112d46d5afc84ffae1 Mon Sep 17 00:00:00 2001
From: Julian Salt <juliansaltducaju@gmail.com>
Date: Mon, 26 Aug 2019 07:43:18 +0200
Subject: [PATCH] Update furuta.jl
---
src/interface_implementations/furuta.jl | 30 +++++++++++++++++++------
1 file changed, 23 insertions(+), 7 deletions(-)
diff --git a/src/interface_implementations/furuta.jl b/src/interface_implementations/furuta.jl
index 365d559..fc53e9d 100644
--- a/src/interface_implementations/furuta.jl
+++ b/src/interface_implementations/furuta.jl
@@ -19,17 +19,27 @@ struct Furuta <: PhysicalProcess
h::Float64
bias::Float64
stream::LabStream
- measure::AnalogInput10V
+ measure_phi::AnalogInput10V
+ measure_phi_dot::AnalogInput10V
+ measure_theta::AnalogInput10V
+ measure_theta_dot::AnalogInput10V
+ measure_theta_precise::AnalogInput10V
+ measure_theta_dot_precise::AnalogInput10V
control::AnalogOutput10V
end
function Furuta(;
h::Float64 = 0.01,
bias::Float64 = 0.,
stream::LabStream = ComediStream(),
- measure::AnalogInput10V = AnalogInput10V(4),
+ measure_phi::AnalogInput10V = AnalogInput10V(4),
+ measure_phi_dot::AnalogInput10V = AnalogInput10V(5),
+ measure_theta::AnalogInput10V = AnalogInput10V(6),
+ measure_theta_dot::AnalogInput10V = AnalogInput10V(7),
+ measure_theta_precise::AnalogInput10V = AnalogInput10V(2),
+ measure_theta_dot_precise::AnalogInput10V = AnalogInput10V(3),
control::AnalogOutput10V = AnalogOutput10V(0))
- p = Furuta(Float64(h),Float64(bias),stream,measure,control)
- init_devices!(p.stream, p.measure, p.control)
+ p = Furuta(Float64(h),Float64(bias),stream,measure_phi,measure_phi_dot,measure_theta,measure_theta_dot,measure_theta_precise,measure_theta_dot_precise,control)
+ init_devices!(p.stream, p.measure_phi, p.measure_phi_dot, p.measure_theta, p.measure_theta_dot, p.measure_theta_precise, p.measure_theta_dot_precise, p.control)
p
end
@@ -45,9 +55,9 @@ end
const AbstractFuruta = Union{Furuta, FurutaSimulator}
num_outputs(p::AbstractFuruta) = 1
-num_inputs(p::AbstractFuruta) = 1
+num_inputs(p::AbstractFuruta) = 6
outputrange(p::AbstractFuruta) = [(-10,10)]
-inputrange(p::AbstractFuruta) = [(-10,10)]
+inputrange(p::AbstractFuruta) = [(-10,10),(-10,10),(-10,10),(-10,10),(-10,10),(-10,10)]
isstable(p::AbstractFuruta) = false
isasstable(p::AbstractFuruta) = false
sampletime(p::AbstractFuruta) = p.h
@@ -62,7 +72,13 @@ control(p::AbstractFuruta, u::Number) = send(p.control,u)
control(p::FurutaSimulator, u::Number) = p.s(u)
-measure(p::Furuta) = read(p.measure)
+measure_phi(p::Furuta) = read(p.measure_phi)
+measure_phi_dot(p::Furuta) = read(p.measure_phi_dot)
+measure_theta(p::Furuta) = read(p.measure_theta)
+measure_theta_dot(p::Furuta) = read(p.measure_theta_dot)
+measure_theta_precise(p::Furuta) = read(p.measure_theta_precise)
+measure_theta_dot_precise(p::Furuta) = read(p.measure_theta_dot_precise)
+
measure(p::FurutaSimulator) = p.s.sys.C*p.s.state
initialize(p::Furuta) = nothing
--
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