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-rw-r--r--digital/mimot/src/dirty/motor_model.host.h68
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diff --git a/digital/mimot/src/dirty/motor_model.host.h b/digital/mimot/src/dirty/motor_model.host.h
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--- a/digital/mimot/src/dirty/motor_model.host.h
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-#ifndef motor_model_host_h
-#define motor_model_host_h
-/* motor_model.host.h - DC motor model. */
-/* asserv - Position & speed motor control on AVR. {{{
- *
- * Copyright (C) 2006 Nicolas Schodet
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- * }}} */
-
-/** Motor and load characteristics. */
-struct motor_def_t
-{
- /* Motor characteristics. */
- double Ke; /* Speed constant ((rad/s)/V). */
- double Kt; /* Torque constant (N.m/A). */
- double Rf; /* Bearing friction (N.m/(rad/s)). */
- double R; /* Terminal resistance (Ohm). */
- double L; /* Terminal inductance (H). */
- double u_max;/* Maximum voltage (V). */
- /* Gearbox characteristics. */
- double i_G; /* Gearbox ratio. */
- 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
- * are at motor output, not gearbox output. */
-struct motor_t
-{
- /* Motor and load characteristics. */
- struct motor_def_t m;
- /* Simulation parameters. */
- double h; /* Simulation time step (s). */
- int d; /* Simulation time step division. */
- /* Simulation current state. */
- double t; /* Current time (not really used) (s). */
- double u; /* Current input voltage (V). */
- double i; /* Current current (A). */
- double o; /* Current angular speed (o for omega) (rad/s). */
- double th; /* Current theta (th for theta) (rad). */
-};
-
-/** Make a simulation step. */
-void motor_model_step (struct motor_t *m);
-
-#endif /* motor_model_host_h */