[chronojump] Fixed and cleaned the code for MOVPULLEY inertial machines

[Xavier Padullés <xpadulles src gnome org>]

commit 54220772796f7d87ec1e6a85852523c200334f05
Author: Xavier Padullés <x padulles gmail com>
Date:   Thu Mar 3 11:38:31 2016 +0100

    Fixed and cleaned the code for MOVPULLEY inertial machines

 encoder/util.R |   69 +++++++++++++++++++------------------------------------
 1 files changed, 24 insertions(+), 45 deletions(-)
---
diff --git a/encoder/util.R b/encoder/util.R
index a6a8711..5b17e5f 100644
--- a/encoder/util.R
+++ b/encoder/util.R
@@ -915,7 +915,7 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, diameter
 
   }
 
-  force = forceDisc + forceBody
+  force = forceDisc / gearedDown + forceBody
   power = powerDisc + powerBody
 
   loopsMax = diameter.m * max(angle)
@@ -979,56 +979,35 @@ getDisplacementInertial <- function(displacement, encoderConfigurationName, diam
        #scanned displacement is ticks of rotary axis encoder
        #now convert it to mm of body displacement
        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
-               position = angle * diameterMeters / 2
-               position = position * 1000      #m -> mm
-               #this is to make "inverted cumsum"
-               displacement = diff(position) #this displacement is going to be used now
-               displacement = c(displacement[1],displacement) #this is to recuperate the lost 1st value in 
the diff operation
+            encoderConfigurationName == "ROTARYAXISINERTIALLATERAL" ||
+            encoderConfigurationName == "ROTARYAXISINERTIALMOVPULLEY") {
+               ticksRotaryEncoder = 200 #our rotary axis encoder send 200 ticks per revolution
+               diameterMeters = diameter / 100 #cm -> m
+               
+               #Number of revolutions that the flywheel rotates every millisecond
+               revolutionsPerMs = displacement / ticksRotaryEncoder # One revolution every 
ticksRotaryEncoder ticks
+               
+               #The person is gearedDown from the machine point of view 
+               #If force multiplier is 2 (gearedDown = 0.5) the displacement of the body is 
+               #half the the displacement at the perimeter of the axis
+               displacement = revolutionsPerMs * pi * diameter * 10 * gearedDown # Revolutions * perimeter * 
gearedDown  and converted cm -> mm
+               
        } else if(encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIAL" ||
-              encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALLATERAL"){
-         displacement = displacement * diameter / diameterExt #displacement of the axis
+                encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALLATERAL"){
+               displacement = displacement * diameter / diameterExt #displacement of the axis
+               
        } else if(encoderConfigurationName == "ROTARYFRICTIONAXISINERTIALMOVPULLEY"){
-         displacement = displacement / gearedDown #if gearedDown = 2 : Half the displacement of the axis
+               #If force multiplier is 2 (gearedDown = 0.5) the displacement of the body is 
+               #half the the displacement at the perimeter of the axis
+               displacement = displacement / gearedDown #if gearedDown = 0.5 : Half the displacement of the 
axis
+               
        } else if(encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALMOVPULLEY"){
-         displacement = displacement * diameter /(gearedDown * diameterExt) #if gearedDown = 2 : Half the 
displacement of the axis
-       } else if(encoderConfigurationName == "ROTARYAXISINERTIALMOVPULLEY"){
-         ticksRotaryEncoder = 200 #our rotary axis encoder send 200 ticks per revolution
-         
-         ####### Old code #########
-         diameterMeters = diameter / 100 #cm -> m
-         #displacementMeters = displacement / 1000 #mm -> m
-         #position = angle * diameterMeters / 2
-         #position = position * 1000 / gearedDown      #m -> mm        if gearedDown = 2 : Half the 
displacement of the axis
-         #angle = cumsum(displacementMeters * 1000) * 2 * pi / ticksRotaryEncoder
-         #this is to make "inverted cumsum"
-         #displacement = diff(position) #this displacement is going to be used now
-         #displacement = c(displacement[1],displacement) #this is to recuperate the lost 1st value in the 
diff operation
-         
-         print("Encoder signal")
-         print(displacement)
-         #Number of revolutions that the flywheel rotates every millisecond
-         revolutionsPerMs = displacement / ticksRotaryEncoder # One revolution every ticksRotaryEncoder ticks
-         print("revolutionPerMs")
-         print(revolutionsPerMs)
-         
-         #The person is gearedDown from the machine point of view 
-         #If force multiplier is 2 (gearedDown = 0.5) the displacement of the body is 
-         #half the the displacement at the perimeter of the axis
-         displacement = revolutionsPerMs * pi * diameter * 10 * gearedDown # Revolutions * perimeter * 
gearedDown  and converted cm -> mm
-         print("gearedDown:")
-         print(gearedDown)
-         print("Displacement")
-         print(displacement)
+               #If force multiplier is 2 (gearedDown = 0.5) the displacement of the body is 
+               #half the the displacement at the perimeter of the axis
+               displacement = displacement * diameter /(gearedDown * diameterExt)
          
        }
        
-       
        return (displacement)
 }