From 756ced5e37dcb240bcbfa4faf94153b38327d026 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 2 May 2010 10:08:35 +0200 Subject: digital/asserv/src/asserv: add motor hardware limits --- digital/asserv/src/asserv/motor_model.host.h | 3 +++ 1 file changed, 3 insertions(+) (limited to 'digital/asserv/src/asserv/motor_model.host.h') 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 -- cgit v1.2.3