summaryrefslogtreecommitdiffhomepage
diff options
context:
space:
mode:
authorNicolas Schodet2010-04-29 23:04:13 +0200
committerNicolas Schodet2010-04-29 23:04:13 +0200
commit2f3a63f620339d4952bbe9e60df178d869c7d580 (patch)
tree2ef0ea3d87fa1f7c10b096f2a720294533e81be5
parent77b5cf5a300974bf84353fc7d8badbb5cc253a68 (diff)
digital/asserv/src/asserv: add marcel elevator, refs #131
-rw-r--r--digital/asserv/src/asserv/models.host.c22
1 files changed, 20 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c
index 08ae3804..31209df2 100644
--- a/digital/asserv/src/asserv/models.host.c
+++ b/digital/asserv/src/asserv/models.host.c
@@ -256,6 +256,24 @@ static const struct robot_t aquajim_robot =
simu_sensor_update_aquajim,
};
+/* Marcel elevator model, with a Faulhaber 2657 and a 1:9.7 ratio gearbox. */
+static const struct motor_def_t marcel_elevator_model =
+{
+ /* Motor characteristics. */
+ 274 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */
+ 34.8 / 1000, /* Torque constant (N.m/A). */
+ 0, /* Bearing friction (N.m/(rad/s)). */
+ 2.84, /* Terminal resistance (Ohm). */
+ 0.380 / 1000, /* Terminal inductance (H). */
+ 24.0, /* Maximum voltage (V). */
+ /* Gearbox characteristics. */
+ 9.7, /* Gearbox ratio. */
+ 0.80, /* Gearbox efficiency. */
+ /* Load characteristics. */
+ 1.0 * 0.01 * 0.01, /* Load (kg.m^2). */
+ /* This is a pifometric estimation. */
+};
+
/* Marcel, APBTeam 2010. */
static const struct robot_t marcel_robot =
{
@@ -278,9 +296,9 @@ static const struct robot_t marcel_robot =
/** Distance between the encoders wheels (m). */
0.28,
/** Auxiliary motors, NULL if not present. */
- { NULL, NULL },
+ { &marcel_elevator_model, NULL },
/** Number of steps for each auxiliary motor encoder. */
- { 0, 0 },
+ { 512, 0 },
/** Sensor update function. */
simu_sensor_update_marcel,
};