add nonstub motor controllers for each building and test for simulate_trip

Chapter05/src/motion_controllers.rs

@@ -98,7 +98,7 @@ impl MotionController for SmoothMotionController
          //may happen if time delta underflows
          0.0
      } else {
-         0.0
+         target_force
      }
    }
 }

Chapter05/src/motor1.c

@@ -1,6 +1,6 @@
 
-int motor1_adjust_motor(double target_force){
+double motor1_adjust_motor(double target_force){
   //real driver would do something here
   //interface with physical components
-  return 0;
+  return target_force;
 }

Chapter05/src/motor2.c

@@ -1,6 +1,6 @@
 
-int motor2_adjust_motor(double target_force){
+double motor2_adjust_motor(double target_force){
   //real driver would do something here
   //interface with physical components
-  return 0;
+  return target_force;
 }

Chapter05/src/motor3.c

@@ -1,6 +1,6 @@
 
-int motor3_adjust_motor(double target_force){
+double motor3_adjust_motor(double target_force){
   //real driver would do something here
   //interface with physical components
-  return 0;
+  return target_force;
 }

Chapter05/src/physics.rs

@@ -15,7 +15,7 @@ pub struct ElevatorState {
    pub motor_input: f64
 }
 
-pub const MAX_JERK: f64 = 0.2;
+pub const MAX_JERK: f64 = 20.0;
 pub const MAX_ACCELERATION: f64 = 2.0;
 pub const MAX_VELOCITY: f64 = 5.0;
 

Chapter05/test1.txt

@@ -0,0 +1,3 @@
+1
+1
+2