From 9b1ce3a050d9169f3bf77764063de0cff800190e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 27 May 2011 07:58:36 +0200 Subject: digital/{ai,io-hub,mimot}, host/simu: change robospierre rotation motor --- digital/mimot/src/dirty/models.host.c | 32 ++++++++++++++++++++++++++++++++ digital/mimot/tools/mimot/init.py | 2 +- 2 files changed, 33 insertions(+), 1 deletion(-) (limited to 'digital/mimot') diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c index a835298f..b1141748 100644 --- a/digital/mimot/src/dirty/models.host.c +++ b/digital/mimot/src/dirty/models.host.c @@ -52,6 +52,26 @@ static const struct motor_def_t marcel_clamp_f2342_model = -INFINITY, +INFINITY, }; +/* Robospierre rotation motor, AMAX32GHP with 1:16 gearbox model. */ +static const struct motor_def_t robospierre_rotation_amax32ghp_model = +{ + /* Motor characteristics. */ + 269 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */ + 25.44 / 1000, /* Torque constant (N.m/A). */ + 0, /* Bearing friction (N.m/(rad/s)). */ + 3.99, /* Terminal resistance (Ohm). */ + 0.24 / 1000, /* Terminal inductance (H). */ + 24.0, /* Maximum voltage (V). */ + /* Gearbox characteristics. */ + 16, /* Gearbox ratio. */ + 0.75, /* Gearbox efficiency. */ + /* Load characteristics. */ + 0.200 * 0.010 * 0.010, /* Load (kg.m^2). */ + /* This is a pifometric estimation. */ + /* Hardware limits. */ + -INFINITY, +INFINITY, +}; + /* Marcel, APBTeam 2010. */ static const struct robot_t marcel_robot = { @@ -63,6 +83,17 @@ static const struct robot_t marcel_robot = simu_sensor_update_marcel, }; +/* Robospierre, APBTeam 2011. */ +static const struct robot_t robospierre_robot = +{ + /** Auxiliary motors, NULL if not present. */ + { &marcel_clamp_f2342_model, &robospierre_rotation_amax32ghp_model }, + /** Number of steps for each auxiliary motor encoder. */ + { 256, 250 }, + /** Sensor update function. */ + NULL, +}; + /* Table of models. */ static const struct { @@ -70,6 +101,7 @@ static const struct const struct robot_t *robot; } models[] = { { "marcel", &marcel_robot }, + { "robospierre", &robospierre_robot }, { 0, 0 } }; diff --git a/digital/mimot/tools/mimot/init.py b/digital/mimot/tools/mimot/init.py index a05f8c44..d302e060 100644 --- a/digital/mimot/tools/mimot/init.py +++ b/digital/mimot/tools/mimot/init.py @@ -17,7 +17,7 @@ target_robospierre = dict ( a1a = 0.5, a1sm = 0x30, a1ss = 0x08, a1be = 256, a1bs = 0x18, a1bc = 5, E = 0x3ff, D = 0x1ff, - w = 0x01, + w = 0x03, ) target = { 'marcel': target_marcel, -- cgit v1.2.3