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-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