Commit e0f22a40 authored by Julian Salt's avatar Julian Salt
Browse files

Update furuta.jl

parent 4c2b67b2
Pipeline #747 failed with stage
......@@ -87,18 +87,22 @@ control(p::FurutaSimulator, u::Number) = p.s(u)
measure_phi(p::Furuta) = read(p.measure_phi)
phi(p::Furuta) = measure_phi(p)*2.56
measure_phi_dot(p::Furuta) = read(p.measure_phi_dot)
phi_dot(p::Furuta) = (measure_phi_dot(p) + 0.0708)*2.0
measure_theta(p::Furuta) = read(p.measure_theta)
#theta(p::Furuta) = (measure_theta(p) + 5.1763)*0.3091
measure_theta_dot(p::Furuta) = read(p.measure_theta_dot)
#theta_dot(p::Furuta) = (measure_theta_dot(p) - 0.022)*3.76
measure_theta_precise(p::Furuta) = read(p.measure_theta_precise)
#theta_precise(p::Furuta) = (measure_theta_precise(p) + 0.7792)*0.058
measure_theta_dot_precise(p::Furuta) = read(p.measure_theta_dot_precise)
#theta_dot_precise(p::Furuta) = measure_theta_dot_precise(p)*0.68
function phi(p::Furuta)
a = rem(measure_phi(p)*2.56,2*pi)
if a > pi
a = a - 2*pi
elseif a < pi
a = a + 2*pi
end
return a
end
function theta(p::Furuta)
a = (measure_theta(p) + 5.1763)*0.3091
if abs(a) < 0.5
......
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