WIP: Started furuta implementation

src/interface_implementations/furuta.jl

@@ -18,18 +18,41 @@ export Furuta, FurutaSimulator, AbstractFuruta
 struct Furuta <: PhysicalProcess
     h::Float64
     bias::Float64
+#    phi::Float64
+#    phi_dot::Float64
+#    theta::Float64
+#    theta_dot::Float64
+#    theta_precise::Float64
+#    theta_dot_precise::Float64
     stream::LabStream
-    measure::AnalogInput10V
+    measure_phi::AnalogInput10V
+    measure_phi_dot::AnalogInput10V
+    measure_theta::AnalogInput10V
+    measure_theta_dot::AnalogInput10V
+    measure_theta_precise::AnalogInput10V
+    measure_theta_dot_precise::AnalogInput10V
     control::AnalogOutput10V
 end
 function Furuta(;
     h::Float64               = 0.01,
     bias::Float64            = 0.,
+ #   phi::Float64            = 0.0,
+ #   phi_dot::Float64            = 0.0,
+ #   theta::Float64            = 0.0,
+ #   theta_dot::Float64            = 0.0,
+ #   theta_precise::Float64            = 0.0,
+ #   theta_dot_precise::Float64            = 0.0,
     stream::LabStream        = ComediStream(),
-    measure::AnalogInput10V  = AnalogInput10V(1),
+    measure_phi::AnalogInput10V  = AnalogInput10V(4),
+    measure_phi_dot::AnalogInput10V  = AnalogInput10V(5),
+    measure_theta::AnalogInput10V  = AnalogInput10V(6),
+    measure_theta_dot::AnalogInput10V  = AnalogInput10V(7),
+    measure_theta_precise::AnalogInput10V  = AnalogInput10V(2),
+    measure_theta_dot_precise::AnalogInput10V  = AnalogInput10V(3),
     control::AnalogOutput10V = AnalogOutput10V(0))
-    p = Furuta(Float64(h),Float64(bias),stream,measure,control)
-    init_devices!(p.stream, p.measure, p.control)
+  #  p = Furuta(Float64(h),Float64(bias),Float64(phi),Float64(phi_dot),Float64(theta),Float64(theta_dot),Float64(theta_precise),Float64(theta_dot_precise),stream,measure_phi,measure_phi_dot,measure_theta,measure_theta_dot,measure_theta_precise,measure_theta_dot_precise,control)
+   p = Furuta(Float64(h),Float64(bias),stream,measure_phi,measure_phi_dot,measure_theta,measure_theta_dot,measure_theta_precise,measure_theta_dot_precise,control)
+    init_devices!(p.stream, p.measure_phi, p.measure_phi_dot, p.measure_theta, p.measure_theta_dot, p.measure_theta_precise, p.measure_theta_dot_precise, p.control)
     p
 end
 
@@ -45,9 +68,9 @@ end
 
 const AbstractFuruta              = Union{Furuta, FurutaSimulator}
 num_outputs(p::AbstractFuruta)             = 1
-num_inputs(p::AbstractFuruta)             = 1
+num_inputs(p::AbstractFuruta)             = 6
 outputrange(p::AbstractFuruta)             = [(-10,10)]
-inputrange(p::AbstractFuruta)             = [(-10,10)]
+inputrange(p::AbstractFuruta)             =  [(-10,10),(-10,10),(-10,10),(-10,10),(-10,10),(-10,10)]
 isstable(p::AbstractFuruta)    = false
 isasstable(p::AbstractFuruta)  = false
 sampletime(p::AbstractFuruta)  = p.h
@@ -62,7 +85,13 @@ control(p::AbstractFuruta, u::Number) = send(p.control,u)
 control(p::FurutaSimulator, u::Number)             = p.s(u)
 
 
-measure(p::Furuta)                         = read(p.measure)
+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(p::FurutaSimulator)                = p.s.sys.C*p.s.state
 
 initialize(p::Furuta)                    = nothing