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bug fixes

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This commit is contained in:
Andrew Johnson 2018-04-05 18:54:10 -06:00
parent 03d17f6174
commit f723aa9769
1 changed files with 2 additions and 3 deletions
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5
Chapter03/src/physics.rs
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@ -76,12 +76,11 @@ pub fn simulate_elevator<MC: MotorController, DR: DataRecorder>(esp: ElevatorSpe
.as_fractional_secs(); .as_fractional_secs();
est.timestamp = now; est.timestamp = now;
est.location = est.location + est.velocity * dt; est.location = est.location + est.velocity * dt;
est.velocity = est.velocity + est.acceleration * dt; est.velocity = est.velocity + est.acceleration * dt;
est.acceleration = { est.acceleration = {
let F = est.motor_input.calculate_force(); let F = est.motor_input.calculate_force();
let m = 1200000.0; let m = esp.carriage_weight;
-9.8 + F/m -9.8 + F/m
}; };
@ -95,7 +94,7 @@ pub fn simulate_elevator<MC: MotorController, DR: DataRecorder>(esp: ElevatorSpe
} }
//5.3. Adjust motor control to process next floor request //5.3. Adjust motor control to process next floor request
mc.poll(est.clone(), next_floor); est.motor_input = mc.poll(est.clone(), next_floor);
//5.4. Print realtime statistics //5.4. Print realtime statistics
dr.poll(est.clone(), next_floor); dr.poll(est.clone(), next_floor);