From 60e18a665b5b9fa1cc33ef2c2bad3d303d840c65 Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <cont-frb@ulund.org>
Date: Mon, 21 Aug 2017 14:24:51 +0200
Subject: [PATCH] Add support for bias in control signal b&b
---
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 bdb7786..6e9a8fd 100644
--- a/src/interface_implementations/ballandbeam.jl
+++ b/src/interface_implementations/ballandbeam.jl
@@ -4,8 +4,9 @@ export BallAndBeam, BallAndBeamSimulator, BallAndBeamType
struct BallAndBeam <: PhysicalProcess
h::Float64
+ bias::Float64
end
-BallAndBeam() = BallAndBeam(0.01)
+BallAndBeam() = BallAndBeam(0.01, 0.0)
struct BallAndBeamSimulator <: SimulatedProcess
h::Float64
@@ -22,7 +23,7 @@ isasstable(p::BallAndBeamType) = false
sampletime(p::BallAndBeamType) = p.h
control(p::BallAndBeam, u) = ccall((:comedi_write, comedipath),Int32,
- (Int32,Int32,Int32,Int32),0,1,1,num2io(u[1]))
+ (Int32,Int32,Int32,Int32),0,1,1,num2io(u[1]+p.bias))
measure(p::BallAndBeam) = io2num(ccall((:comedi_read,comedipath), Int32,
(Int32,Int32,Int32), 0,0,0))
--
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