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authorschodet2007-08-06 12:41:58 +0000
committerschodet2007-08-06 12:41:58 +0000
commitddf13c7289697864c1b29dc51c44b175ef0c3023 (patch)
tree334155ef260e8cc8ec430af716d6e5a078a86a05 /n/asserv/src/asserv/models.host.c
parent5af01bc01b23666c62a8fc2733ec6da6713bb78a (diff)
Fixed bad M_2_PI usage (M_2_PI = 2/pi, not 2*pi).HEADmaster
Diffstat (limited to 'n/asserv/src/asserv/models.host.c')
-rw-r--r--n/asserv/src/asserv/models.host.c6
1 files changed, 3 insertions, 3 deletions
diff --git a/n/asserv/src/asserv/models.host.c b/n/asserv/src/asserv/models.host.c
index f978cb6..976edd3 100644
--- a/n/asserv/src/asserv/models.host.c
+++ b/n/asserv/src/asserv/models.host.c
@@ -32,7 +32,7 @@
static const struct motor_t gloubi_model =
{
/* Motor caracteristics. */
- 407 * M_2_PI / 60, /* Speed constant ((rad/s)/V). */
+ 407 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */
23.4 / 1000, /* Torque constant (N.m/A). */
0, /* Bearing friction (N.m/(rad/s)). */
2.18, /* Terminal resistance (Ohm). */
@@ -65,7 +65,7 @@ static const struct robot_t gloubi_robot =
static const struct motor_t taz_model =
{
/* Motor caracteristics. */
- 407 * M_2_PI / 60, /* Speed constant ((rad/s)/V). */
+ 407 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */
23.4 / 1000, /* Torque constant (N.m/A). */
0, /* Bearing friction (N.m/(rad/s)). */
2.18, /* Terminal resistance (Ohm). */
@@ -98,7 +98,7 @@ static const struct robot_t taz_robot =
static const struct motor_t tazg_model =
{
/* Motor caracteristics. */
- 407 * M_2_PI / 60, /* Speed constant ((rad/s)/V). */
+ 407 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */
40.2 / 1000, /* Torque constant (N.m/A). */
0, /* Bearing friction (N.m/(rad/s)). */
2.32, /* Terminal resistance (Ohm). */