Commit a4925db8 authored by Julian Salt's avatar Julian Salt
Browse files

Update furuta.jl

parent 16c5a3bd
Pipeline #738 canceled with stage
......@@ -18,12 +18,12 @@ export Furuta, FurutaSimulator, AbstractFuruta
struct Furuta <: PhysicalProcess
h::Float64
bias::Float64
phi::Float64
phi_dot::Float64
theta::Float64
theta_dot::Float64
theta_precise::Float64
theta_dot_precise::Float64
# phi::Float64
# phi_dot::Float64
# theta::Float64
# theta_dot::Float64
# theta_precise::Float64
# theta_dot_precise::Float64
stream::LabStream
measure_phi::AnalogInput10V
measure_phi_dot::AnalogInput10V
......@@ -36,12 +36,12 @@ end
function Furuta(;
h::Float64 = 0.01,
bias::Float64 = 0.,
phi::Float64 = 0.0,
phi_dot::Float64 = 0.0,
theta::Float64 = 0.0,
theta_dot::Float64 = 0.0,
theta_precise::Float64 = 0.0,
theta_dot_precise::Float64 = 0.0,
# phi::Float64 = 0.0,
# phi_dot::Float64 = 0.0,
# theta::Float64 = 0.0,
# theta_dot::Float64 = 0.0,
# theta_precise::Float64 = 0.0,
# theta_dot_precise::Float64 = 0.0,
stream::LabStream = ComediStream(),
measure_phi::AnalogInput10V = AnalogInput10V(4),
measure_phi_dot::AnalogInput10V = AnalogInput10V(5),
......@@ -50,7 +50,8 @@ function Furuta(;
measure_theta_precise::AnalogInput10V = AnalogInput10V(2),
measure_theta_dot_precise::AnalogInput10V = AnalogInput10V(3),
control::AnalogOutput10V = AnalogOutput10V(0))
p = Furuta(Float64(h),Float64(bias),Float64(phi),Float64(phi_dot),Float64(theta),Float64(theta_dot),Float64(theta_precise),Float64(theta_dot_precise),stream,measure_phi,measure_phi_dot,measure_theta,measure_theta_dot,measure_theta_precise,measure_theta_dot_precise,control)
# p = Furuta(Float64(h),Float64(bias),Float64(phi),Float64(phi_dot),Float64(theta),Float64(theta_dot),Float64(theta_precise),Float64(theta_dot_precise),stream,measure_phi,measure_phi_dot,measure_theta,measure_theta_dot,measure_theta_precise,measure_theta_dot_precise,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
......
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