[chronojump] Added encoder options: INERTIALLATERAL AND INERTIALMOVPULLEY

[Xavier Padullés <xpadulles src gnome org>]

commit be3d5b7ab5f931f84eb8bc1bb7d2c1699a475f0d
Author: Xavier Padullés <x padulles gmail com>
Date:   Mon Apr 27 20:43:39 2015 +0200

    Added encoder options: INERTIALLATERAL AND INERTIALMOVPULLEY

 encoder/util.R |   39 +++++++++++++++++++++++++--------------
 1 files changed, 25 insertions(+), 14 deletions(-)
---
diff --git a/encoder/util.R b/encoder/util.R
index 9c6ba0d..aeff017 100644
--- a/encoder/util.R
+++ b/encoder/util.R
@@ -671,16 +671,26 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, diameter
     angle = position.m * 2 / diameter.m
     angleSpeed = speed * 2 / diameter.m
     angleAccel = accel * 2 / diameter.m
-  } else if(encoderConfigurationName == "ROTARYAXISINERTIALMOVPULLEY"){
+    force = abs(inertiaMomentum * angleAccel) * (2 / diameter.m) + mass * (accel + g)
+    power = abs((inertiaMomentum * angleAccel) * angleSpeed) + mass * (accel + g) * speed
+  } else if(encoderConfigurationName == "ROTARYAXISINERTIALMOVPULLEY" ||
+              encoderConfigurationName == "ROTARYFRICTIONAXISINERTIALMOVPULLEY" ||
+              encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALMOVPULLEY"){
     angle = position.m * 4 / diameter.m
     angleSpeed = speed * 4 / diameter.m
     angleAccel = accel * 4 / diameter.m
+    force = abs(inertiaMomentum * angleAccel) * (2 / diameter.m) + mass * (accel + g)
+    power = abs((inertiaMomentum * angleAccel) * angleSpeed) + mass * (accel + g) * speed
+  } else if(encoderConfigurationName == "ROTARYAXISINERTIALLATERAL" ||
+              encoderConfigurationName == "ROTARYFRICTIONAXISINERTIALLATERAL" ||
+              encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALLATERAL"){
+    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
+    power = abs((inertiaMomentum * angleAccel) * angleSpeed) + mass * accel * speed
   }
 
-
-       force = abs(inertiaMomentum * angleAccel) * (2 / diameter.m) + mass * (accel + g)
-       power = abs((inertiaMomentum * angleAccel) * angleSpeed) + mass * (accel + g) * speed
-
        return(list(displacement=displacement, mass=mass, force=force, power=power))
 }
 
@@ -734,10 +744,10 @@ getDisplacementInertial <- function(displacement, encoderConfigurationName, diam
 {
        #scanned displacement is ticks of rotary axis encoder
        #now convert it to mm of body displacement
-       if(encoderConfigurationName == "ROTARYAXISINERTIAL") {
+       if(encoderConfigurationName == "ROTARYAXISINERTIAL" ||
+            encoderConfigurationName == "ROTARYAXISINERTIALLATERAL") {
                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
@@ -745,24 +755,25 @@ 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 == "ROTARYFRICTIONSIDEINERTIAL" ||
+              encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALLATERAL"){
+         displacement = displacement * diameter / diameterExt #displacement of the axis
+       } else if(encoderConfigurationName == "ROTARYFRICTIONAXISINERTIALMOVPULLEY"){
+         displacement = 2 * displacement #twice the displacement of the axis
+       } else if(encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALMOVPULLEY"){
+         displacement = 2 * displacement * diameter / diameterExt #twice the displacement of the axis
        } 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
+         position = position * 500     #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
-       }
        
        return (displacement)
 }