From bc38b408c53281ee985f6f9d67accc5733d99e37 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 28 Jan 2008 21:12:12 +0100 Subject: * digital/asserv/src/asserv: - imported old sources. - removed holes support (rule 2006). --- digital/asserv/src/asserv/motor_model.host.h | 58 ++++++++++++++++++++++++++++ 1 file changed, 58 insertions(+) create mode 100644 digital/asserv/src/asserv/motor_model.host.h (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 new file mode 100644 index 00000000..931890a7 --- /dev/null +++ b/digital/asserv/src/asserv/motor_model.host.h @@ -0,0 +1,58 @@ +#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 + * + * Robot APB Team/Efrei 2006. + * Web: http://assos.efrei.fr/robot/ + * Email: robot AT efrei DOT fr + * + * 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 caracteristics and current data. */ +struct motor_t +{ + /* Motor caracteristics. */ + 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). */ + /* Gearbox caracteristics. */ + double i_G; /* Gearbox ratio. */ + double ro_G;/* Gearbox efficiency. */ + /* Load caracteristics. */ + double J; /* Load (kg.m^2). */ + /* Wheel caracteristics. */ + double w_r; /* Wheel radius (m). */ + /* Simulation parameters. */ + double h; /* Simulation time step (s). */ + int d; /* Simulation time step division. */ + /* Simulation current state. */ + double t; /* Current time (not realy 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 */ -- cgit v1.2.3