From d75646037301e483d3071145faafae07f3b9d93b Mon Sep 17 00:00:00 2001 From: Julian Salt <juliansaltducaju@gmail.com> Date: Mon, 26 Aug 2019 09:57:52 +0200 Subject: [PATCH] Update furuta.jl --- src/interface_implementations/furuta.jl | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/interface_implementations/furuta.jl b/src/interface_implementations/furuta.jl index fc53e9d..0b89333 100644 --- a/src/interface_implementations/furuta.jl +++ b/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 -- GitLab