Commit d7564603 authored by Julian Salt's avatar Julian Salt
Browse files

Update furuta.jl

parent 6013f772
Pipeline #736 canceled with stage
......@@ -72,12 +72,12 @@ control(p::AbstractFuruta, u::Number) = send(p.control,u)
control(p::FurutaSimulator, u::Number) = p.s(u)
measure_phi(p::Furuta) = read(p.measure_phi)
measure_phi_dot(p::Furuta) = read(p.measure_phi_dot)
measure_theta(p::Furuta) = read(p.measure_theta)
measure_theta_dot(p::Furuta) = read(p.measure_theta_dot)
measure_theta_precise(p::Furuta) = read(p.measure_theta_precise)
measure_theta_dot_precise(p::Furuta) = read(p.measure_theta_dot_precise)
measure_phi(p::Furuta) = read(p.measure_phi)*2.56
measure_phi_dot(p::Furuta) = (read(p.measure_phi_dot) + 0.0708)*2.0
measure_theta(p::Furuta) = (read(p.measure_theta) + 5.1763)*0.3091
measure_theta_dot(p::Furuta) = (read(p.measure_theta_dot) - 0.022)*3.76
measure_theta_precise(p::Furuta) = (read(p.measure_theta_precise) + 0.7792)*0.058
measure_theta_dot_precise(p::Furuta) = read(p.measure_theta_dot_precise)*0.68
measure(p::FurutaSimulator) = p.s.sys.C*p.s.state
......
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