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authorNicolas Schodet2010-05-02 10:08:35 +0200
committerNicolas Schodet2010-05-02 10:08:35 +0200
commit756ced5e37dcb240bcbfa4faf94153b38327d026 (patch)
tree218ff6cb82c9bbce4410aefc581a0fa6367c6d47 /digital/asserv/src/asserv/motor_model.host.h
parentf02a891a38903e53b6dc904567e27a3d1020130c (diff)
digital/asserv/src/asserv: add motor hardware limits
Diffstat (limited to 'digital/asserv/src/asserv/motor_model.host.h')
-rw-r--r--digital/asserv/src/asserv/motor_model.host.h3
1 files changed, 3 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/motor_model.host.h b/digital/asserv/src/asserv/motor_model.host.h
index 3a04e15a..283b6fd6 100644
--- a/digital/asserv/src/asserv/motor_model.host.h
+++ b/digital/asserv/src/asserv/motor_model.host.h
@@ -40,6 +40,9 @@ struct motor_def_t
double ro_G;/* Gearbox efficiency. */
/* Load characteristics. */
double J; /* Load at gearbox output (kg.m^2). */
+ /* Hardware limits (use +/-INFINITY for none). */
+ double th_min; /* Minimum theta value. */
+ double th_max; /* Maximum theta value. */
};
/** Motor and load characteristics and current data. Angular speed and theta