Use improved simulation in Furuta pendum

[a-sr]

Integrate the RK-45 solver by @YiweiIvy into the Furuta pendulum example. See #20 (comment)

[Jakio815]

I see the results of this example as this pendulum.pdf. However, I see the theta value is kind of weird. It starts as -pi, but suddenly becomes 0, and again at about 0.6 seconds, it changes from 0 to -pi suddenly. I also see this is happening in phi values. Is this working well?

[Jakio815]

This is actually whats happening when I added the phi value.

[edwardalee]

This looks like an angle wraparound (2pi = 0). However, it seems to wrapping around at pi instead of 2pi. Perhaps there is a factor of two missing somewhere?

[lhstrh]

Would you be able to check on this, @a-sr? Thanks!

[a-sr]

I can take a look at this but I cannot find a branch or PR with the respective code.

[lhstrh]

I'm not sure where this code went. Maybe @YiweiIvy can tell us?

[lhstrh]

I think I was referring to this: https://github.com/lhstrh/experimental-lingua-franca/blob/main/Python/src/FurutaPendulum/PendulumSimulationRK4.lf (let me know if you have trouble accessing it)