[chronojump] Fixed ROTARYINERTIALLATERALMOVPULLEY gearedDown hardcoded
- From: Xavier Padullés <xpadulles src gnome org>
- To: commits-list gnome org
- Cc:
- Subject: [chronojump] Fixed ROTARYINERTIALLATERALMOVPULLEY gearedDown hardcoded
- Date: Fri, 9 Feb 2018 08:50:02 +0000 (UTC)
commit 6d3c7f510193b2e5f1530a8c29a648c1fdc3cff3
Author: Xavier Padullés <x padulles gmail com>
Date: Fri Feb 9 09:48:03 2018 +0100
Fixed ROTARYINERTIALLATERALMOVPULLEY gearedDown hardcoded
encoder/util.R | 6 +++---
1 files changed, 3 insertions(+), 3 deletions(-)
---
diff --git a/encoder/util.R b/encoder/util.R
index 14bf775..389cb98 100644
--- a/encoder/util.R
+++ b/encoder/util.R
@@ -916,9 +916,9 @@ getDynamicsInertial <- function(encoderConfigurationName, displacement, diameter
encoderConfigurationName == "ROTARYFRICTIONSIDEINERTIALMOVPULLEY"){
#With a moving pulley, the displacement of the body is half of the displacement of the rope in the
inertial machine side
#So, the multiplier is 4 instead of 2 to get the rotational kinematics.
- angle = position.m * 4 / diameter.m
- angleSpeed = speed * 4 / diameter.m
- angleAccel = accel * 4 / diameter.m
+ angle = position.m * 2 / gearedDown / diameter.m
+ angleSpeed = speed * 2 / gearedDown / diameter.m
+ angleAccel = accel * 2 / gearedDown / diameter.m
anglePush = 90 #TODO: send from C#
#The configuration covers horizontal, vertical and inclined movements
#If the movement is vertical g*sin(alpha) = g
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