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processes
LabProcesses.jl
Commits
97b9c56b
Commit
97b9c56b
authored
Aug 26, 2019
by
Julian Salt
Browse files
Update furuta.jl
parent
e9990584
Pipeline
#745
canceled with stage
Changes
1
Pipelines
1
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Inline
Side-by-side
src/interface_implementations/furuta.jl
View file @
97b9c56b
...
...
@@ -91,13 +91,30 @@ 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
#
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
#
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
#
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
#theta_dot_precise(p::Furuta) = measure_theta_dot_precise(p)*0.68
function
theta
(
p
::
Furuta
)
a
=
(
measure_theta
(
p
)
+
5.1763
)
*
0.3091
if
abs
(
a
)
<
0.5
a
=
(
measure_theta_precise
(
p
)
+
0.7792
)
*
0.058
end
return
a
end
function
theta_dot
(
p
::
Furuta
)
a
=
(
measure_theta
(
p
)
+
5.1763
)
*
0.3091
b
=
(
measure_theta_dot
(
p
)
-
0.022
)
*
3.76
if
abs
(
a
)
<
0.5
b
=
measure_theta_dot_precise
(
p
)
*
0.68
end
return
b
end
measure
(
p
::
FurutaSimulator
)
=
p
.
s
.
sys
.
C
*
p
.
s
.
state
...
...
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