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authorNicolas Schodet2010-05-04 02:24:57 +0200
committerNicolas Schodet2010-05-04 02:24:57 +0200
commit50b8abe7f025cd2a4a498c24da37826a6e2b585a (patch)
tree3ba509df73b2b209000d50b8e704b7a23f45dec9 /digital/mimot/src/dirty/motor_model.host.h
parente8f1654b1ebd70c67c4e22067221cc3d76739e68 (diff)
digital/mimot/src/dirty: add motor hardware limits
See r1069.
Diffstat (limited to 'digital/mimot/src/dirty/motor_model.host.h')
-rw-r--r--digital/mimot/src/dirty/motor_model.host.h3
1 files changed, 3 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/motor_model.host.h b/digital/mimot/src/dirty/motor_model.host.h
index 3a04e15a..283b6fd6 100644
--- a/digital/mimot/src/dirty/motor_model.host.h
+++ b/digital/mimot/src/dirty/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