[chronojump] Fixed rotary friction side inertial
- From: Xavier de Blas <xaviblas src gnome org>
- To: commits-list gnome org
- Cc:
- Subject: [chronojump] Fixed rotary friction side inertial
- Date: Mon, 17 Mar 2014 16:13:47 +0000 (UTC)
commit 127262a1f2fcef0e9375271967d1a1d9a7068ef7
Author: Xavier de Blas <xaviblas gmail com>
Date: Mon Mar 17 17:13:11 2014 +0100
Fixed rotary friction side inertial
encoder/graph.R | 22 +-
images/encoder-rotary-friction-side-inertial.png | Bin 18668 -> 19144 bytes
images/svg/encoder-mode-icons.svg | 9546 +++++++++++-----------
src/encoder.cs | 1 +
4 files changed, 4646 insertions(+), 4923 deletions(-)
---
diff --git a/encoder/graph.R b/encoder/graph.R
index 5305d89..50c99ad 100644
--- a/encoder/graph.R
+++ b/encoder/graph.R
@@ -1894,12 +1894,14 @@ getDynamicsNotInertial <- function(encoderConfigurationName, speed, accel, mass,
getDynamicsInertial <- function(encoderConfigurationName, displacement, d, D, mass, inertiaMomentum,
smoothing)
{
-displacement = displacement / 1000 #mm -> m
-d=d/100 #cm -> m
-D=D/100 #cm -> m
+ #first: Internationational System units
+ displacement = displacement / 1000 #mm -> m
+ d=d/100 #cm -> m
+ D=D/100 #cm -> m
+
+ #2nd, on friction side: know displacement of the "person"
if(encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIAL")
{
- angle = displacement * 2 / D #displacement of the disc
displacement = displacement * d / D #displacement of the axis
}
@@ -1924,9 +1926,15 @@ D=D/100 #cm -> m
speed = speed$y
accel = accel$y
- angle = position * 2 / d
- angleSpeed = speed * 2 / d
- angleAccel = accel * 2 / d
+ if(encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIAL") {
+ angle = position * 2 / D
+ angleSpeed = speed * 2 / D
+ angleAccel = accel * 2 / D
+ } else {
+ angle = position * 2 / d
+ angleSpeed = speed * 2 / d
+ angleAccel = accel * 2 / d
+ }
} else {
#(encoderConfigurationName == "ROTARYAXISINERTIAL")
ticksRotaryEncoder = 200 #our rotary axis encoder send 200 ticks by turn
diff --git a/images/encoder-rotary-friction-side-inertial.png
b/images/encoder-rotary-friction-side-inertial.png
index 1f52d56..8ce004b 100644
Binary files a/images/encoder-rotary-friction-side-inertial.png and
b/images/encoder-rotary-friction-side-inertial.png differ
diff --git a/images/svg/encoder-mode-icons.svg b/images/svg/encoder-mode-icons.svg
index e00d4f1..8807e04 100644
--- a/images/svg/encoder-mode-icons.svg
+++ b/images/svg/encoder-mode-icons.svg
@@ -31,9 +31,9 @@
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<dc:title>Openclipart</dc:title>
</cc:Agent>
</dc:publisher>
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<dc:date>2013-08-08T13:03:15</dc:date>
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<dc:source>http://openclipart.org/detail/181674/database-symbol-by-eternaltyro-181674</dc:source>
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diff --git a/src/encoder.cs b/src/encoder.cs
index 54fd341..d7f75da 100644
--- a/src/encoder.cs
+++ b/src/encoder.cs
@@ -780,6 +780,7 @@ public class EncoderConfiguration {
text = "Rotary friction encoder on inertial machine side." + "\n" +
"Person has to start fully extended (on the toes).";
+ has_d = true;
has_D = true;
has_inertia = true;
}
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