[chronojump] Fixed rotary inertial friction side: angle

[Xavier de Blas <xaviblas src gnome org>]

commit 24dc29da1ff71be3b9f5e56e017973c564dbdfcc
Author: Xavier de Blas <xaviblas gmail com>
Date:   Mon Mar 31 20:11:36 2014 +0200

    Fixed rotary inertial friction side: angle

 encoder/graph.R |   17 +++++------------
 1 files changed, 5 insertions(+), 12 deletions(-)
---
diff --git a/encoder/graph.R b/encoder/graph.R
index aa81125..1fdafc2 100644
--- a/encoder/graph.R
+++ b/encoder/graph.R
@@ -1879,18 +1879,9 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, d, D, ma
        d.m = d / 100 #cm -> m
        D.m = D / 100 #cm -> m
 
-       if(encoderConfigurationName == "LINEARINERTIAL" ||
-          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 { # encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIAL"
-               angle = position.m * 2 / D.m
-               angleSpeed = speed * 2 / D.m
-               angleAccel = accel * 2 / D.m
-       } 
+       angle = position.m * 2 / d.m
+       angleSpeed = speed * 2 / d.m
+       angleAccel = accel * 2 / d.m
 
        force = abs(inertiaMomentum * angleAccel) * (2 / d.m) + mass * (accel + g)
        power = abs((inertiaMomentum * angleAccel) * angleSpeed) + mass * (accel + g) * speed
@@ -1912,6 +1903,8 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, d, D, ma
        print(c("max power at inertial",max(abs(power))))
        #print(c("powerBody",powerBody[1000]))
        #print(c("powerWheel",powerWheel[1000]))
+       print(c("d.m, D.m", d.m, D.m))
+       print(c("max angle, max pos", max(angle), max(position.m)))
 
        return(list(displacement=displacement, mass=mass, force=force, power=power))
 }