From d51d4f7fa9f4dbcd7ee72375a95d4b11c75ac31d Mon Sep 17 00:00:00 2001
From: Julian Salt <juliansaltducaju@gmail.com>
Date: Mon, 26 Aug 2019 13:26:59 +0200
Subject: [PATCH] Update furuta.jl
---
src/interface_implementations/furuta.jl | 28 ++++++++++++-------------
1 file changed, 14 insertions(+), 14 deletions(-)
diff --git a/src/interface_implementations/furuta.jl b/src/interface_implementations/furuta.jl
index fea7232..0d178ef 100644
--- a/src/interface_implementations/furuta.jl
+++ b/src/interface_implementations/furuta.jl
@@ -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),
@@ -50,8 +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),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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