WIP: Started furuta implementation
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@@ -51,6 +51,7 @@ function Furuta(;
@@ -51,6 +51,7 @@ function Furuta(;
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)
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)
@@ -77,7 +78,8 @@ bias(p::AbstractFuruta) = p.bias
@@ -77,7 +78,8 @@ bias(p::AbstractFuruta) = p.bias
length(u) == 1 || error("Process $(typeof(p)) only accepts one control signal, tried to send u=$u.")
@@ -85,11 +87,34 @@ control(p::FurutaSimulator, u::Number) = p.s(u)
@@ -85,11 +87,34 @@ control(p::FurutaSimulator, u::Number) = p.s(u)