[chronojump] Added and modified comments for getDisplacement

[Xavier Padullés <xpadulles src gnome org>]

commit 6189c66429ccf92e1975ab0cd18f2991dfb5a992
Author: Xavier Padullés <x padulles gmail com>
Date:   Mon Mar 23 16:36:42 2015 +0100

    Added and modified comments for getDisplacement

 encoder/util.R |  161 ++++++++++++++++++++++++++++++++------------------------
 1 files changed, 92 insertions(+), 69 deletions(-)
---
diff --git a/encoder/util.R b/encoder/util.R
index 634e736..8982e47 100644
--- a/encoder/util.R
+++ b/encoder/util.R
@@ -662,11 +662,11 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, d, D, ma
        d.m = d / 100 #cm -> m
        D.m = D / 100 #cm -> m
 
-       angle = position.m * 2 / d.m
-       angleSpeed = speed * 2 / d.m
-       angleAccel = accel * 2 / d.m
+       angle = position.m * 2 / d.m #d.m variable
+       angleSpeed = speed * 2 / d.m #d.m variable
+       angleAccel = accel * 2 / d.m #d.m variable
 
-       force = abs(inertiaMomentum * angleAccel) * (2 / d.m) + mass * (accel + g)
+       force = abs(inertiaMomentum * angleAccel) * (2 / d.m) + mass * (accel + g) #d.m variable
        power = abs((inertiaMomentum * angleAccel) * angleSpeed) + mass * (accel + g) * speed
        powerBody = mass * (accel + g) * speed
        powerWheel = abs((inertiaMomentum * angleAccel) * angleSpeed)
@@ -693,11 +693,81 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, d, D, ma
 }
 
 
+
+#in signals and curves, need to do conversions (invert, inertiaMomentum, diameter)
+getDisplacement <- function(encoderConfigurationName, displacement, diameter, diameterExt) {
+       #no change
+       #WEIGHTEDMOVPULLEYLINEARONPERSON1, WEIGHTEDMOVPULLEYLINEARONPERSON1INV,
+       #WEIGHTEDMOVPULLEYLINEARONPERSON2, WEIGHTEDMOVPULLEYLINEARONPERSON2INV,
+       #LINEARONPLANE
+       #ROTARYFRICTIONSIDE
+       #WEIGHTEDMOVPULLEYROTARYFRICTION
+
+  if(
+          encoderConfigurationName == "LINEARINVERTED" ||
+          encoderConfigurationName == "WEIGHTEDMOVPULLEYLINEARONPERSON1INV" ||
+          encoderConfigurationName == "WEIGHTEDMOVPULLEYLINEARONPERSON2INV") 
+    #On inverted modes the direction of the displacement is changed
+       {
+               displacement = -displacement
+       } else if(encoderConfigurationName == "WEIGHTEDMOVPULLEYONLINEARENCODER") {
+    #On geared down machines the displacement of the subject is multiplied by gearedDown
+               #default is: gearedDown = 2. Future maybe this will be a parameter
+               displacement = displacement * 2
+       } else if(encoderConfigurationName == "ROTARYFRICTIONAXIS") {
+    #On rotary friction axis the displacement of the subject is proportional to the axis diameter
+    #and inversely proportional to the diameter where the encoder is coupled
+               displacement = displacement * diameter / diameterExt
+       } else if(encoderConfigurationName == "ROTARYAXIS" || 
+                 encoderConfigurationName == "WEIGHTEDMOVPULLEYROTARYAXIS") {
+    #On rotary encoders attached to fixed pulleys next to subjects (see config 1 and 3 in interface),
+    #the displacement of the subject is anlge * radius
+               ticksRotaryEncoder = 200 #our rotary axis encoder sends 200 ticks per revolution
+               #The angle rotated by the pulley is (ticks / ticksRotaryEncoder) * 2 * pi
+    #The radium in mm is diameter * 1000 / 2
+               displacement = ( displacement / ticksRotaryEncoder ) * pi * ( diameter * 1000 )
+       }
+               
+       return(displacement)
+}
+
+#This function converts angular information from rotary encoder to linear information like linear encoder
+#This is NOT the displacement of the person because con-ec phases roll in the same direction
+#This is solved by the function getDisplacementInertialBody
+fixDisplacementInertial <- function(displacement, encoderConfigurationName, diameter, diameterExt)
+{
+       #scanned displacement is ticks of rotary axis encoder
+       #now convert it to mm of body displacement
+       if(encoderConfigurationName == "ROTARYAXISINERTIAL") {
+               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 = 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)
+}
+
+
+#Converts from mm of displacement on the encoder
+#to mm of displacement of the person   
+
 #separate phases using initial height of full extended person
-#this methods replaces getDisplacement and fixRawdataInertial
 #here comes a signal: (singleFile)
-#it shows the disc rotation and the person movement
-
+#it can show graph of the disc rotation and the person movement
+       
 #positionStart is the height at the start of the curve. It's used only on realtime capture.
 #displacementPerson has to be adjusted for every repetition using the positionStart relative to the start of 
the movement
 #Eg, at start of the capture position is always 0, then goes down (first eccentric phase), and then starts 
con-ecc, con-ecc, con-ecc, ...
@@ -730,7 +800,10 @@ getDisplacementInertialBody <- function(positionStart, displacement, draw, title
                #firstDownPhaseTime = position.ext$minindex[1]
                #downHeight = abs(position[1] - position[firstDownPhaseTime])
        }
-               
+       
+       #This is the main part.
+       #Converts from mm of displacement on the encoder
+       #to mm of displacement of the person    
        positionPerson = cumsum(displacement)
        positionPerson = positionPerson + positionStart
        positionPerson = abs(positionPerson)*-1
@@ -768,67 +841,15 @@ getDisplacementInertialBody <- function(positionStart, displacement, draw, title
 }
 
 
-#in signals and curves, need to do conversions (invert, inertiaMomentum, diameter)
-#we use 'data' variable because can be position or displacement
-getDisplacement <- function(encoderConfigurationName, data, diameter, diameterExt) {
-       #no change
-       #WEIGHTEDMOVPULLEYLINEARONPERSON1, WEIGHTEDMOVPULLEYLINEARONPERSON1INV,
-       #WEIGHTEDMOVPULLEYLINEARONPERSON2, WEIGHTEDMOVPULLEYLINEARONPERSON2INV,
-       #LINEARONPLANE
-       #ROTARYFRICTIONSIDE
-       #WEIGHTEDMOVPULLEYROTARYFRICTION
-
-       if(
-          encoderConfigurationName == "LINEARINVERTED" ||
-          encoderConfigurationName == "WEIGHTEDMOVPULLEYLINEARONPERSON1INV" ||
-          encoderConfigurationName == "WEIGHTEDMOVPULLEYLINEARONPERSON2INV") 
-       {
-               data = -data
-       } else if(encoderConfigurationName == "WEIGHTEDMOVPULLEYONLINEARENCODER") {
-               #default is: gearedDown = 2. Future maybe this will be a parameter
-               data = data *2
-       } else if(encoderConfigurationName == "ROTARYFRICTIONAXIS") {
-               data = data * diameter / diameterExt
-       } else if(encoderConfigurationName == "ROTARYAXIS" || 
-                 encoderConfigurationName == "WEIGHTEDMOVPULLEYROTARYAXIS") {
-               ticksRotaryEncoder = 200 #our rotary axis encoder send 200 ticks by turn
-               #diameter m -> mm
-               data = ( data / ticksRotaryEncoder ) * 2 * pi * ( diameter * 1000 / 2 )
-       }
-               
-       return(data)
-}
-
-fixDisplacementInertial <- function(displacement, encoderConfigurationName, diameter, diameterExt)
-{
-       #scanned displacement is ticks of rotary axis encoder
-       #now convert it to mm of body displacement
-       if(encoderConfigurationName == "ROTARYAXISINERTIAL") {
-               displacementMeters = displacement / 1000 #mm -> m
-               diameterMeters = diameter / 100 #cm -> m
-
-               ticksRotaryEncoder = 200 #our rotary axis encoder send 200 ticks by 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 = 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)
-}
-
 #Read a double vector indicating the initial diameter of every loop of the rope
 #plus the final diameter of the last loop and returns a dataframe with the radius
 #correspending to the total number of ticks of the encoder
-getInstantDiameters <- function(d_vector)
+#This can be run only once per machine
+
+# Example of input of the sequence of the loop and diameter of the loop
+# We use diameters but in the next step we convert to radii
+# d_vector <- c(1.5, 1.5, 1.5, 1.5, 2, 2.5, 2.7, 2.9, 2.95, 3)
+getInertialDiametersPerTick <- function(d_vector)
 {
   #If only one diameter is returned, we assume that the diameter is constant
   #and only a double is returned
@@ -846,7 +867,9 @@ getInstantDiameters <- function(d_vector)
   d.approx <- approx(x=d[,1], y=d[,2], seq(from=1, to=d[length(d[,1]),1]))
   return(d.approx$y)
 }
+#Returns the instant diameter every milisecond
+getInertialDiameterPerMs <- function(diameterPerTick, displacement)
+{
+  return(diameterPerTick[abs(cumsum(displacement)]))
+}
 
-# Example of input of the sequence of the loop and diameter of the loop
-# We use diameters but in the next step we convert to radii
-# d_vector <- c(1.5, 1.5, 1.5, 1.5, 2, 2.5, 2.7, 2.9, 2.95, 3)