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-rw-r--r--digital/asserv/models/pwm.m23
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diff --git a/digital/asserv/models/pwm.m b/digital/asserv/models/pwm.m
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+% Show influence of PWM control over voltage control.
+motor;
+
+%global to_file = 1;
+
+global sys;
+sys.motor = re40g;
+sys.gear = gear4x;
+sys.load = robot10w80;
+sys.load.J /= 2; % Two motors.
+sys.control.func = "pwm";
+sys.control.period = 1/20000;
+
+% PWM: 50%
+sys.control.pwm = 0.5;
+plotterm ("pwm");
+sys_plot (10/20000);
+
+% Voltage: 50%
+sys.control.pwm = 1;
+sys.motor.u *= 0.5;
+plotterm ("voltage");
+sys_plot (10/20000);