From 9b59712d4ad53f23a1903ebcb687ca0607570e2f Mon Sep 17 00:00:00 2001
From: baggepinnen <cont-frb@ulund.org>
Date: Fri, 7 Dec 2018 16:54:59 +0100
Subject: [PATCH] Updates to julia1
---
src/LabProcesses.jl | 2 +-
src/controllers.jl | 8 ++++----
src/interface_implementations/ballandbeam.jl | 6 +++---
3 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/src/LabProcesses.jl b/src/LabProcesses.jl
index bc3b32b..b2f1a68 100644
--- a/src/LabProcesses.jl
+++ b/src/LabProcesses.jl
@@ -9,7 +9,7 @@ end
module LabProcesses
-using ControlSystems, LabConnections.Computer, Parameters, DSP
+using ControlSystems, LabConnections.Computer, Parameters, DSP, LinearAlgebra
include("utilities.jl")
diff --git a/src/controllers.jl b/src/controllers.jl
index a6d21b1..55eb8c4 100644
--- a/src/controllers.jl
+++ b/src/controllers.jl
@@ -27,16 +27,16 @@ function run_control_2DOF(P::AbstractProcess,sysFB, sysFF=nothing; duration = 10
rf = sysFF == nothing ? r[:,i] : Gff(r[:,i])
e = rf-y[:,i]
ui = Gfb(e)
- ui + bias(P)
+ ui .+ bias(P)
end
simulation = isa(P, SimulatedProcess)
initialize(P)
for (i,t) = enumerate(0:h:duration)
@periodically h simulation begin
- y[:,i] = measure(P)
- r[:,i] = reference(t)
- u[:,i] = calc_control(i) # y,r must be updated before u
+ y[:,i] .= measure(P)
+ r[:,i] .= reference(t)
+ u[:,i] .= calc_control(i) # y,r must be updated before u
control(P, [clamp.(u[j,i], inputrange(P)[j]...) for j=1:nu])
end
end
diff --git a/src/interface_implementations/ballandbeam.jl b/src/interface_implementations/ballandbeam.jl
index 9ae3da6..a9e04e2 100644
--- a/src/interface_implementations/ballandbeam.jl
+++ b/src/interface_implementations/ballandbeam.jl
@@ -48,7 +48,7 @@ const beam_system, nice_beam_controller = define_beam_system()
struct BeamSimulator <: SimulatedProcess
h::Float64
s::SysFilter
- BeamSimulator(;h::Real = 0.01) = new(Float64(h), SysFilter(beam_system, h))
+ BeamSimulator(;h::Real = 0.01, bias=0) = new(Float64(h), SysFilter(beam_system, h))
end
struct BallAndBeam <: PhysicalProcess
@@ -96,7 +96,7 @@ bias(p::BallAndBeamSimulator) = 0
function control(p::AbstractBeamOrBallAndBeam, u::AbstractArray)
length(u) == 1 || error("Process $(typeof(p)) only accepts one control signal, tried to send u=$u.")
- send(p.control,u[1])
+ control(p,u[1])
end
control(p::AbstractBeamOrBallAndBeam, u::Number) = send(p.control,u)
control(p::BeamSimulator, u::Number) = p.s(u)
@@ -104,7 +104,7 @@ control(p::BallAndBeamSimulator, u::Number) = error("Not yet implemented")
measure(p::Beam) = read(p.measure)
measure(p::BallAndBeam) = [read(p.measure1), read(p.measure2)]
-measure(p::BeamSimulator) = vecdot(p.s.sys.C,p.s.state)
+measure(p::BeamSimulator) = dot(p.s.sys.C,p.s.state)
measure(p::BallAndBeamSimulator) = error("Not yet implemented")
--
GitLab