From 2f3a63f620339d4952bbe9e60df178d869c7d580 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 29 Apr 2010 23:04:13 +0200 Subject: digital/asserv/src/asserv: add marcel elevator, refs #131 --- digital/asserv/src/asserv/models.host.c | 22 ++++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) (limited to 'digital/asserv/src/asserv/models.host.c') diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c index 08ae3804..31209df2 100644 --- a/digital/asserv/src/asserv/models.host.c +++ b/digital/asserv/src/asserv/models.host.c @@ -256,6 +256,24 @@ static const struct robot_t aquajim_robot = simu_sensor_update_aquajim, }; +/* Marcel elevator model, with a Faulhaber 2657 and a 1:9.7 ratio gearbox. */ +static const struct motor_def_t marcel_elevator_model = +{ + /* Motor characteristics. */ + 274 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */ + 34.8 / 1000, /* Torque constant (N.m/A). */ + 0, /* Bearing friction (N.m/(rad/s)). */ + 2.84, /* Terminal resistance (Ohm). */ + 0.380 / 1000, /* Terminal inductance (H). */ + 24.0, /* Maximum voltage (V). */ + /* Gearbox characteristics. */ + 9.7, /* Gearbox ratio. */ + 0.80, /* Gearbox efficiency. */ + /* Load characteristics. */ + 1.0 * 0.01 * 0.01, /* Load (kg.m^2). */ + /* This is a pifometric estimation. */ +}; + /* Marcel, APBTeam 2010. */ static const struct robot_t marcel_robot = { @@ -278,9 +296,9 @@ static const struct robot_t marcel_robot = /** Distance between the encoders wheels (m). */ 0.28, /** Auxiliary motors, NULL if not present. */ - { NULL, NULL }, + { &marcel_elevator_model, NULL }, /** Number of steps for each auxiliary motor encoder. */ - { 0, 0 }, + { 512, 0 }, /** Sensor update function. */ simu_sensor_update_marcel, }; -- cgit v1.2.3