Update furuta.jl

src/interface_implementations/furuta.jl

@@ -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