/* models.host.c */ /* 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. * * }}} */ #define _GNU_SOURCE 1 /* Need ISO C99 features as well. */ #include "common.h" #include "motor_model.host.h" #include "models.host.h" #include "simu.host.h" #include #include /* Marcel clamp, with a Faulhaber 2342 and 23/1 3.71:1 gearbox model. */ static const struct motor_def_t marcel_clamp_f2342_model = { /* Motor characteristics. */ 366 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */ 26.10 / 1000, /* Torque constant (N.m/A). */ 0, /* Bearing friction (N.m/(rad/s)). */ 7.10, /* Terminal resistance (Ohm). */ 0.265 / 1000, /* Terminal inductance (H). */ 24.0, /* Maximum voltage (V). */ /* Gearbox characteristics. */ 3.71, /* Gearbox ratio. */ 0.88, /* Gearbox efficiency. */ /* Load characteristics. */ 0.100 * 0.005 * 0.005,/* Load (kg.m^2). */ /* This is a pifometric estimation. */ /* Hardware limits. */ 0.0, +INFINITY, }; /* Marcel, APBTeam 2010. */ static const struct robot_t marcel_robot = { /** Auxiliary motors, NULL if not present. */ { &marcel_clamp_f2342_model, &marcel_clamp_f2342_model }, /** Number of steps for each auxiliary motor encoder. */ { 512, 512 }, /** Sensor update function. */ simu_sensor_update_marcel, }; /* Table of models. */ static const struct { const char *name; const struct robot_t *robot; } models[] = { { "marcel", &marcel_robot }, { 0, 0 } }; /** Get a pointer to a model by name, or return 0. */ const struct robot_t * models_get (const char *name) { int i; for (i = 0; models[i].name; i++) { if (strcmp (models[i].name, name) == 0) return models[i].robot; } return 0; } /** Initialise simulation models. */ void models_init (const struct robot_t *robot, struct motor_t aux_motor[]) { int i; if (aux_motor) { for (i = 0; i < AC_ASSERV_AUX_NB; i++) { if (robot->aux_motor[i]) { aux_motor[i].m = *robot->aux_motor[i]; aux_motor[i].h = ECHANT_PERIOD; aux_motor[i].d = 1000; } } } }