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processes
LabProcesses.jl
Commits
e238b87e
Commit
e238b87e
authored
Aug 27, 2019
by
Julian Salt
Browse files
Update furuta.jl
parent
bef7a6e2
Pipeline
#750
failed with stage
Changes
1
Pipelines
1
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Inline
Side-by-side
src/interface_implementations/furuta.jl
View file @
e238b87e
...
...
@@ -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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