[chronojump] Added ROTARYAXISINERTIALLATERALMOVPULLEY mode

[Xavier Padullés <xpadulles src gnome org>]

commit 4633ba27eff0cd4b40ac27c355fdf9862b41e875
Author: Xavier Padullés <x padulles gmail com>
Date:   Thu Mar 2 13:36:42 2017 +0100

    Added ROTARYAXISINERTIALLATERALMOVPULLEY mode

 encoder/util.R |   12 +++++++-----
 1 files changed, 7 insertions(+), 5 deletions(-)
---
diff --git a/encoder/util.R b/encoder/util.R
index 84b760c..7b03018 100644
--- a/encoder/util.R
+++ b/encoder/util.R
@@ -911,10 +911,11 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, diameter
 
   } else if(encoderConfigurationName == "ROTARYAXISINERTIALLATERAL" ||
               encoderConfigurationName == "ROTARYFRICTIONAXISINERTIALLATERAL" ||
-              encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALLATERAL"){
-    angle = position.m * 2 / diameter.m
-    angleSpeed = speed * 2 / diameter.m
-    angleAccel = accel * 2 / diameter.m
+              encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALLATERAL" ||
+              encoderConfigurationName == "ROTARYAXISINERTIALLATERALMOVPULLEY"){
+    angle = position.m * 2 * gearedDown / diameter.m
+    angleSpeed = speed * 2 * gearedDown / diameter.m
+    angleAccel = accel * 2 * gearedDown / diameter.m
     anglePush = 0 #TODO: send from C#
     
     forceDisc = abs(inertiaMomentum * angleAccel) * (2 / diameter.m)
@@ -992,7 +993,8 @@ getDisplacementInertial <- function(displacement, encoderConfigurationName, diam
        #now convert it to mm of body displacement
        if(encoderConfigurationName == "ROTARYAXISINERTIAL" ||
             encoderConfigurationName == "ROTARYAXISINERTIALLATERAL" ||
-            encoderConfigurationName == "ROTARYAXISINERTIALMOVPULLEY") {
+            encoderConfigurationName == "ROTARYAXISINERTIALMOVPULLEY" ||
+            encoderConfigurationName == "ROTARYAXISINERTIALLATERALMOVPULLEY") {
                ticksRotaryEncoder = 200 #our rotary axis encoder send 200 ticks per revolution
                
                #Number of revolutions that the flywheel rotates every millisecond