[chronojump] better getDynamicsInertial

[Xavier de Blas <xaviblas src gnome org>]

commit aa7878aeda1d87455e561fff7931879c4a66768e
Author: Xavier de Blas <xaviblas gmail com>
Date:   Fri Mar 21 14:21:20 2014 +0100

    better getDynamicsInertial

 encoder/graph.R |   34 ++++++++++++----------------------
 1 files changed, 12 insertions(+), 22 deletions(-)
---
diff --git a/encoder/graph.R b/encoder/graph.R
index 2d18d2d..ac9218a 100644
--- a/encoder/graph.R
+++ b/encoder/graph.R
@@ -1870,46 +1870,36 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, d, D, ma
        D.m = D / 100 #cm -> m
 
        if(encoderConfigurationName == "LINEARINERTIAL" ||
-          encoderConfigurationName == "ROTARYFRICTIONAXISINERTIAL") 
+          encoderConfigurationName == "ROTARYFRICTIONAXISINERTIAL" ||
+          encoderConfigurationName == "ROTARYAXISINERTIAL") #this has been converted to linear previously
        {
                angle = position.m * 2 / d.m
                angleSpeed = speed * 2 / d.m
                angleAccel = accel * 2 / d.m
-       } else if(encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIAL") 
-       {
+       } else { # encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIAL"
                angle = position.m * 2 / D.m
                angleSpeed = speed * 2 / D.m
                angleAccel = accel * 2 / D.m
-       } else 
-       { #(EncoderConfigurationName == "ROTARYAXISINERTIAL")
-               ticksRotaryEncoder = 200 #our rotary axis encoder send 200 ticks by turn
-               #angle in radians
-               angle = abs(cumsum(displacement)) * 2 * pi / ticksRotaryEncoder
-               angleSpeed = getSpeed(angle, smoothing) #rads/ms
-               angleAccel = getAcceleration(angleSpeed) #rads/ms² 
-               angleAccel$y = angleAccel$y * 1000 #rads/ms² -> rads/s²
-
-               #use the values
-               angleSpeed = angleSpeed$y
-               angleAccel = angleAccel$y
-       }
+       } 
 
        force = abs(inertiaMomentum * angleAccel) * (2 / d.m) + mass * (accel + g)
        power = abs((inertiaMomentum * angleAccel) * angleSpeed) + mass * (accel + g) * speed
        powerBody = mass * (accel + g) * speed
        powerWheel = abs((inertiaMomentum * angleAccel) * angleSpeed)
 
-       #print(c("displacement",displacement))
-       #print(c("inertia momentum",inertiaMomentum))
+       print(c("displacement",displacement))
+       print(c("displacement cumsum",cumsum(displacement)))
+       print(c("inertia momentum",inertiaMomentum))
         #print(c("d",d))
         #print(c("mass",mass))
         #print(c("g",g))
-       #print(c("angleAccel",angleAccel))
-       #print(c("angleSpeed",angleSpeed))
+        print(c("max angle",max(abs(angle))))
+       print(c("max angleSpeed",max(abs(angleSpeed))))
+       print(c("max angleAccel",max(abs(angleAccel))))
        #print(c("speed",speed))
        #print(c("accel",accel))
-       #print(c("force",force))
-       #print(c("power at inertial",power))
+       print(c("max force",max(abs(force))))
+       print(c("max power at inertial",max(abs(power))))
        #print(c("powerBody",powerBody[1000]))
        #print(c("powerWheel",powerWheel[1000]))