[chronojump] Better abs values on calculations at encoder paint

[Xavier Padullés <xpadulles src gnome org>]

commit 1387473c951ac697d721f7522a029524475fdeb6
Author: Xavier Padullés <x padulles gmail com>
Date:   Fri Dec 9 17:04:01 2016 +0100

    Better abs values on calculations at encoder paint

 encoder/graph.R |    7 ++++++-
 encoder/util.R  |    8 ++++----
 2 files changed, 10 insertions(+), 5 deletions(-)
---
diff --git a/encoder/graph.R b/encoder/graph.R
index c529955..b227d26 100644
--- a/encoder/graph.R
+++ b/encoder/graph.R
@@ -2844,7 +2844,12 @@ doProcess <- function(options)
                                par(new=T)      
                                ylimHeight = max(abs(range(accel$y)))
                                ylim=c(- 1.05 * ylimHeight, 1.05 * ylimHeight)  #put 0 in the middle, and 
have 5% margin at each side
-                               plot(abs(accel$y), col="magenta", ylim=ylim, type="l", xlab="",ylab="",axes=F)
+
+                               if(isInertial(op$EncoderConfigurationName))
+                                       plot(abs(accel$y), col="magenta", ylim=ylim, type="l", 
xlab="",ylab="",axes=F)
+                               else
+                                       plot(accel$y, col="magenta", ylim=ylim, type="l", 
xlab="",ylab="",axes=F)
+
                                axis(4, col="magenta", lty=lty[1], line=axisLineRight, lwd=1, padj=-.5)
                                axisLineRight = axisLineRight +2
                        }
diff --git a/encoder/util.R b/encoder/util.R
index e7ee258..0c019ff 100644
--- a/encoder/util.R
+++ b/encoder/util.R
@@ -883,7 +883,7 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, diameter
     anglePush = 90 #TODO: send from C#
 
     forceDisc = abs(inertiaMomentum * angleAccel) * (2 / diameter.m) 
-    forceBody = mass * (accel + g * sin(anglePush * pi / 180))
+    forceBody = mass * (abs(accel) + g * sin(anglePush * pi / 180))
     powerDisc = abs((inertiaMomentum * angleAccel) * angleSpeed)
     powerBody = abs(mass * (accel + g * sin(anglePush * pi / 180)) * speed)
 
@@ -901,7 +901,7 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, diameter
     #If the movement is horizontal g*sin(alpha) = 0
 
     forceDisc = abs(inertiaMomentum * angleAccel) * (2 / diameter.m)
-    forceBody = mass * (accel + g * sin(anglePush * pi / 180))
+    forceBody = mass * (abs(accel) + g * sin(anglePush * pi / 180))
     powerDisc = abs((inertiaMomentum * angleAccel) * angleSpeed)
     powerBody = abs(mass * (accel + g * sin(anglePush * pi / 180)) * speed)
 
@@ -915,13 +915,13 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, diameter
     anglePush = 0 #TODO: send from C#
     
     forceDisc = abs(inertiaMomentum * angleAccel) * (2 / diameter.m)
-    forceBody = mass * accel
+    forceBody = mass * abs(accel)
     powerDisc = abs((inertiaMomentum * angleAccel) * angleSpeed)
     powerBody = abs(mass * accel * speed)
 
   }
 
-  force = abs(forceDisc / gearedDown) + abs(forceBody)
+  force = (forceDisc / gearedDown) + forceBody
   power = powerDisc + powerBody
 
   loopsMax = diameter.m * max(angle)