From b1bbe807bb917950ff868369b113e9d379f2edd0 Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlsson <cont-frb@ulund.org>
Date: Mon, 21 Aug 2017 14:19:59 +0200
Subject: [PATCH] lab now working
---
src/controllers.jl | 6 +++---
src/interface_implementations/ballandbeam.jl | 2 +-
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/controllers.jl b/src/controllers.jl
index eef0983..1bdb043 100644
--- a/src/controllers.jl
+++ b/src/controllers.jl
@@ -20,10 +20,10 @@ function run_control_2DOF(P::AbstractProcess,sysFB, sysFF=nothing; duration = 10
stateFF = init_sysfilter(sysFF)
end
- function control(i)
+ function calc_control(i)
rf = sysFF == nothing ? r[i] : sysfilter!(stateFF, sysFF, r[i])
e = rf-y[i]
- ui = sysfilter!(stateFB, sysFB, e)
+ ui = sysfilter!(stateFB, sysFB, e)[1]
end
initialize(P)
@@ -31,7 +31,7 @@ function run_control_2DOF(P::AbstractProcess,sysFB, sysFF=nothing; duration = 10
@periodically h begin
y[i] = measure(P)
r[i] = reference(t)
- u[i] .= control(i) # y,r must be updated before u
+ u[i] = calc_control(i) # y,r must be updated before u
control(P, u[i])
end
end
diff --git a/src/interface_implementations/ballandbeam.jl b/src/interface_implementations/ballandbeam.jl
index 76d3d75..bdb7786 100644
--- a/src/interface_implementations/ballandbeam.jl
+++ b/src/interface_implementations/ballandbeam.jl
@@ -32,7 +32,7 @@ measure(p::BallAndBeamSimulator) = error("Not yet implemented")
const comedipath = Pkg.dir("LabProcesses","c","comedi_bridge.so")
const conversion = 65535/20
io2num(x) = x/conversion -10 # Converts from io to float
-num2io(x) = round(Int32,x*100 + 2050) # Converts from regular number to io
+num2io(x) = round(Int32,x*100 + 2048) # Converts from regular number to io
initialize(p::BallAndBeam) = ccall((:comedi_start, comedipath),Int32,(Int32,), 0)
finalize(p::BallAndBeam) = (control(p,0);ccall((:comedi_stop, comedipath),Int32,(Int32,), 0))
--
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