Commit e238b87e authored by Julian Salt's avatar Julian Salt
Browse files

Update furuta.jl

parent bef7a6e2
Pipeline #750 failed with stage
......@@ -104,19 +104,20 @@ function phi(p::Furuta)
return a
end
function theta(p::Furuta)
a = (measure_theta(p) + 5.1763)*0.3091
if abs(a) < 0.5
a = (measure_theta_precise(p) + 0.7792)*0.058
end
# a = (measure_theta(p) + 5.1763)*0.3091
a = (measure_theta(p) - 2.43)*0.627
#if abs(a) < 0.5
# a = (measure_theta_precise(p) + 0.7792)*0.058
#end
return a
end
function theta_dot(p::Furuta)
a = (measure_theta(p) + 5.1763)*0.3091
#a = (measure_theta(p) + 5.1763)*0.3091
b = (measure_theta_dot(p) - 0.022)*3.76
if abs(a) < 0.5
b = measure_theta_dot_precise(p)*0.68
end
#if abs(a) < 0.5
# b = measure_theta_dot_precise(p)*0.68
#end
return b
end
......
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