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lines changed Original file line number Diff line number Diff line change @@ -21,18 +21,18 @@ def derivs(state, t):
2121
2222    del_  =  state [2 ] -  state [0 ]
2323    den1  =  (M1  +  M2 )* L1  -  M2 * L1 * cos (del_ )* cos (del_ )
24-     dydx [1 ] =  (M2 * L1 * state [1 ]* state [1 ]* sin (del_ )* cos (del_ )
25-                +   M2 * G * sin (state [2 ])* cos (del_ )
26-                +   M2 * L2 * state [3 ]* state [3 ]* sin (del_ )
27-                -   (M1  +  M2 )* G * sin (state [0 ]))/ den1 
24+     dydx [1 ] =  (M2 * L1 * state [1 ]* state [1 ]* sin (del_ )* cos (del_ )  + 
25+                M2 * G * sin (state [2 ])* cos (del_ )  + 
26+                M2 * L2 * state [3 ]* state [3 ]* sin (del_ )  - 
27+                (M1  +  M2 )* G * sin (state [0 ]))/ den1 
2828
2929    dydx [2 ] =  state [3 ]
3030
3131    den2  =  (L2 / L1 )* den1 
32-     dydx [3 ] =  (- M2 * L2 * state [3 ]* state [3 ]* sin (del_ )* cos (del_ )
33-                +   (M1  +  M2 )* G * sin (state [0 ])* cos (del_ )
34-                -   (M1  +  M2 )* L1 * state [1 ]* state [1 ]* sin (del_ )
35-                -   (M1  +  M2 )* G * sin (state [2 ]))/ den2 
32+     dydx [3 ] =  (- M2 * L2 * state [3 ]* state [3 ]* sin (del_ )* cos (del_ )  + 
33+                (M1  +  M2 )* G * sin (state [0 ])* cos (del_ )  - 
34+                (M1  +  M2 )* L1 * state [1 ]* state [1 ]* sin (del_ )  - 
35+                (M1  +  M2 )* G * sin (state [2 ]))/ den2 
3636
3737    return  dydx 
3838
 
 
   
 
     
   
   
          
    
    
     
    
      
     
     
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