From e238b87e9fca8000431b57e33d4222f9c132fcde Mon Sep 17 00:00:00 2001
From: Julian Salt <juliansaltducaju@gmail.com>
Date: Tue, 27 Aug 2019 11:12:43 +0200
Subject: [PATCH] Update furuta.jl
---
src/interface_implementations/furuta.jl | 17 +++++++++--------
1 file changed, 9 insertions(+), 8 deletions(-)
diff --git a/src/interface_implementations/furuta.jl b/src/interface_implementations/furuta.jl
index 4f2e62c..d8594a3 100644
--- a/src/interface_implementations/furuta.jl
+++ b/src/interface_implementations/furuta.jl
@@ -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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