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Commit d7564603 authored by Julian Salt's avatar Julian Salt
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Update furuta.jl

parent 6013f772
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1 merge request!3WIP: Started furuta implementation
Pipeline #736 canceled
...@@ -72,12 +72,12 @@ control(p::AbstractFuruta, u::Number) = send(p.control,u) ...@@ -72,12 +72,12 @@ control(p::AbstractFuruta, u::Number) = send(p.control,u)
control(p::FurutaSimulator, u::Number) = p.s(u) control(p::FurutaSimulator, u::Number) = p.s(u)
measure_phi(p::Furuta) = read(p.measure_phi) measure_phi(p::Furuta) = read(p.measure_phi)*2.56
measure_phi_dot(p::Furuta) = read(p.measure_phi_dot) measure_phi_dot(p::Furuta) = (read(p.measure_phi_dot) + 0.0708)*2.0
measure_theta(p::Furuta) = read(p.measure_theta) measure_theta(p::Furuta) = (read(p.measure_theta) + 5.1763)*0.3091
measure_theta_dot(p::Furuta) = read(p.measure_theta_dot) measure_theta_dot(p::Furuta) = (read(p.measure_theta_dot) - 0.022)*3.76
measure_theta_precise(p::Furuta) = read(p.measure_theta_precise) 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) measure_theta_dot_precise(p::Furuta) = read(p.measure_theta_dot_precise)*0.68
measure(p::FurutaSimulator) = p.s.sys.C*p.s.state measure(p::FurutaSimulator) = p.s.sys.C*p.s.state
......
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