[chronojump] Added ROTARIAXISINERTIALMOVPULLEY in isInertial() and getDynamicsInertial()

[Xavier Padullés <xpadulles src gnome org>]

commit b0498571fb1fa78388465a0c9347abad8d7cb001
Author: Xavier Padullés <x padulles gmail com>
Date:   Mon Apr 27 15:27:55 2015 +0200

    Added ROTARIAXISINERTIALMOVPULLEY in isInertial() and getDynamicsInertial()

 encoder/util.R |   41 ++++++++++++++++++++++++++++++++---------
 1 files changed, 32 insertions(+), 9 deletions(-)
---
diff --git a/encoder/util.R b/encoder/util.R
index ed6639b..1c2008d 100644
--- a/encoder/util.R
+++ b/encoder/util.R
@@ -570,7 +570,9 @@ isInertial <- function(encoderConfigurationName) {
        if(encoderConfigurationName == "LINEARINERTIAL" ||
           encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIAL" ||
           encoderConfigurationName == "ROTARYFRICTIONAXISINERTIAL" ||
-          encoderConfigurationName == "ROTARYAXISINERTIAL") 
+          encoderConfigurationName == "ROTARYAXISINERTIAL" ||
+          encoderConfigurationName == "ROTARYAXISINERTIALMOVPULLEY")
+    
                return(TRUE)
        else
                return(FALSE)
@@ -635,6 +637,7 @@ getDynamicsNotInertial <- function(encoderConfigurationName, speed, accel,
 #  ROTARYFRICTIONSIDEINERTIAL Rotary friction encoder connected to inertial machine on the side of the disc
 #  ROTARYFRICTIONAXISINERTIAL Rotary friction encoder connected to inertial machine on the axis
 #  ROTARYAXISINERTIAL Rotary axis encoder  connected to inertial machine on the axis
+#  ROTARYAXISINERTIALMOVPULLEY Rotari axis encoder connected to inertial machine on the axis and the subject 
pulling from a moving pulley
 
 getDynamicsInertial <- function(encoderConfigurationName, displacement, diameter, mass, inertiaMomentum, 
smoothing)
 {
@@ -655,22 +658,30 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, diameter
 
        position.m = abs(cumsum(displacement)) / 1000 #m
        diameter.m = diameter / 100 #cm -> m
+  
+  if(encoderConfigurationName == "ROTARYAXISINERTIAL" ||
+       encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIAL" ||
+       encoderConfigurationName == "ROTARYFRICTIONAXISINERTIAL" ||
+       encoderConfigurationName == "LINEARINERTIAL"){
+    angle = position.m * 2 / diameter.m
+    angleSpeed = speed * 2 / diameter.m
+    angleAccel = accel * 2 / diameter.m
+  } else if(encoderConfigurationName == "ROTARYAXISINERTIALMOVPULLEY"){
+    angle = position.m * 4 / diameter.m
+    angleSpeed = speed * 4 / diameter.m
+    angleAccel = accel * 4 / diameter.m
+  }
 
-       angle = position.m * 2 / diameter.m
-       angleSpeed = speed * 2 / diameter.m
-       angleAccel = accel * 2 / diameter.m
 
        force = abs(inertiaMomentum * angleAccel) * (2 / diameter.m) + mass * (accel + g)
        power = abs((inertiaMomentum * angleAccel) * angleSpeed) + mass * (accel + g) * speed
-       powerBody = mass * (accel + g) * speed
-       powerWheel = abs((inertiaMomentum * angleAccel) * angleSpeed)
 
        return(list(displacement=displacement, mass=mass, force=force, power=power))
 }
 
 
 
-#in signals and curves, need to do conversions (invert, inertiaMomentum, diameter)
+#in signals and curves, need to do conversions (invert, diameter)
 getDisplacement <- function(encoderConfigurationName, displacement, diameter, diameterExt) {
        #no change
        #WEIGHTEDMOVPULLEYLINEARONPERSON1, WEIGHTEDMOVPULLEYLINEARONPERSON1INV,
@@ -678,6 +689,7 @@ getDisplacement <- function(encoderConfigurationName, displacement, diameter, di
        #LINEARONPLANE
        #ROTARYFRICTIONSIDE
        #WEIGHTEDMOVPULLEYROTARYFRICTION
+  #ROTARYAXISINERTIALMOVPULLEY
 
   if(
           encoderConfigurationName == "LINEARINVERTED" ||
@@ -728,12 +740,23 @@ getDisplacementInertial <- function(displacement, encoderConfigurationName, diam
                position = position * 1000      #m -> mm
                #this is to make "inverted cumsum"
                displacement = c(0,diff(position)) #this displacement is going to be used now
+       } else if(encoderConfigurationName == "ROTARYAXISINERTIALMOVPULLEY"){
+         displacementMeters = displacement / 1000 #mm -> m
+         diameterMeters = diameter / 100 #cm -> m
+         
+         ticksRotaryEncoder = 200 #our rotary axis encoder send 200 ticks per turn
+         #angle in radians
+         angle = cumsum(displacementMeters * 1000) * 2 * pi / ticksRotaryEncoder
+         position = angle * diameterMeters / 2
+         position = position * 5000    #m -> mm and the rope moves twice as the body
+         #this is to make "inverted cumsum"
+         displacement = c(0,diff(position)) #this displacement is going to be used now
        }
-
+       
        #on friction side: know displacement of the "person"
        if(encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIAL")
        {
-               displacement = displacement * diameter / diameterExt #displacement of the axis
+         displacement = displacement * diameter / diameterExt #displacement of the axis
        }
        
        return (displacement)