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-rw-r--r--digital/asserv/src/asserv/models.host.c38
1 files changed, 38 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c
index e98631f7..7436ed43 100644
--- a/digital/asserv/src/asserv/models.host.c
+++ b/digital/asserv/src/asserv/models.host.c
@@ -58,6 +58,7 @@ static const struct motor_t gloubi_model =
static const struct robot_t gloubi_robot =
{
&gloubi_model,
+ NULL,
26.0, /* Distance between the wheels (m). */
};
@@ -91,6 +92,7 @@ static const struct motor_t taz_model =
static const struct robot_t taz_robot =
{
&taz_model,
+ NULL,
30.0, /* Distance between the wheels (m). */
};
@@ -124,6 +126,41 @@ static const struct motor_t tazg_model =
static const struct robot_t tazg_robot =
{
&tazg_model,
+ NULL,
+ 30.0, /* Distance between the wheels (m). */
+};
+
+/* Gerard arm model, with a RE25CLL and a 1:10 ratio gearbox. */
+static const struct motor_t gerard_arm_model =
+{
+ /* Motor caracteristics. */
+ 407 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */
+ 23.4 / 1000, /* Torque constant (N.m/A). */
+ 0, /* Bearing friction (N.m/(rad/s)). */
+ 2.18, /* Terminal resistance (Ohm). */
+ 0.24 / 1000, /* Terminal inductance (H). */
+ /* Gearbox caracteristics. */
+ 10, /* Gearbox ratio. */
+ 0.75, /* Gearbox efficiency. */
+ /* Load caracteristics. */
+ 0.200 * 0.1 * 0.1, /* Load (kg.m^2). */
+ /* Wheel caracteristics. */
+ 0, /* Wheel radius (m). */
+ /* Simulation parameters. */
+ 4.444444 / 1000, /* Simulation time step (s). */
+ 1000, /* Simulation time step division. */
+ /* Simulation current state. */
+ 0, /* Current time (not realy used) (s). */
+ 0, /* Current input voltage (V). */
+ 0, /* Current current (A). */
+ 0, /* Current angular speed (o for omega) (rad/s). */
+ 0 /* Current theta (th for theta) (rad). */
+};
+
+static const struct robot_t gerard_robot =
+{
+ &tazg_model,
+ &gerard_arm_model,
30.0, /* Distance between the wheels (m). */
};
@@ -136,6 +173,7 @@ static const struct
{ "gloubi", &gloubi_robot },
{ "taz", &taz_robot },
{ "tazg", &tazg_robot },
+ { "gerard", &gerard_robot },
{ 0, 0 }
};