From 830048da9a94cd9fb91678694dfd07d577e3070c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 5 Mar 2012 23:49:17 +0100 Subject: digital/mimot: convert to new control system --- digital/mimot/src/dirty/motor_model.host.h | 68 ------------------------------ 1 file changed, 68 deletions(-) delete mode 100644 digital/mimot/src/dirty/motor_model.host.h (limited to 'digital/mimot/src/dirty/motor_model.host.h') diff --git a/digital/mimot/src/dirty/motor_model.host.h b/digital/mimot/src/dirty/motor_model.host.h deleted file mode 100644 index 283b6fd6..00000000 --- a/digital/mimot/src/dirty/motor_model.host.h +++ /dev/null @@ -1,68 +0,0 @@ -#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 */ -- cgit v1.2.3