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+/* models.host.c */
+/* 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.
+ *
+ * }}} */
+#include "motor_model.host.h"
+#include "models.host.h"
+
+#include <math.h>
+#include <string.h>
+
+/* Gloubi model. */
+static const struct motor_t gloubi_model =
+{
+ /* Motor caracteristics. */
+ 407 * M_2_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). */
+ 0.24 / 1000, /* Terminal inductance (H). */
+ /* Gearbox caracteristics. */
+ 10, /* Gearbox ratio. */
+ 0.75, /* Gearbox efficiency. */
+ /* Load caracteristics. */
+ 4 * 0.02 * 0.02, /* Load (kg.m^2). */
+ /* Simulation parameters. */
+ 4.444444 / 1000, /* Simulation time step (s). */
+ 1000, /* Simulation time step division. */
+ /* Simulation current state. */
+ 0, /* Current time (not realy used) (s). */
+ 0, /* Current input voltage (V). */
+ 0, /* Current current (A). */
+ 0, /* Current angular speed (o for omega) (rad/s). */
+ 0 /* Current theta (th for theta) (rad). */
+};
+
+/* Taz model. */
+static const struct motor_t taz_model =
+{
+ /* Motor caracteristics. */
+ 407 * M_2_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). */
+ 0.24 / 1000, /* Terminal inductance (H). */
+ /* Gearbox caracteristics. */
+ 10, /* Gearbox ratio. */
+ 0.75, /* Gearbox efficiency. */
+ /* Load caracteristics. */
+ 10 * 0.04 * 0.04, /* Load (kg.m^2). */
+ /* Simulation parameters. */
+ 4.444444 / 1000, /* Simulation time step (s). */
+ 1000, /* Simulation time step division. */
+ /* Simulation current state. */
+ 0, /* Current time (not realy used) (s). */
+ 0, /* Current input voltage (V). */
+ 0, /* Current current (A). */
+ 0, /* Current angular speed (o for omega) (rad/s). */
+ 0 /* Current theta (th for theta) (rad). */
+};
+
+/* Taz model, with a RE25G and a 1:20.25 ratio gearbox. */
+static const struct motor_t tazg_model =
+{
+ /* Motor caracteristics. */
+ 407 * M_2_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). */
+ 0.24 / 1000, /* Terminal inductance (H). */
+ /* Gearbox caracteristics. */
+ 20.25, /* Gearbox ratio. */
+ 0.75, /* Gearbox efficiency. */
+ /* Load caracteristics. */
+ 10 * 0.04 * 0.04, /* Load (kg.m^2). */
+ /* Simulation parameters. */
+ 4.444444 / 1000, /* Simulation time step (s). */
+ 1000, /* Simulation time step division. */
+ /* Simulation current state. */
+ 0, /* Current time (not realy used) (s). */
+ 0, /* Current input voltage (V). */
+ 0, /* Current current (A). */
+ 0, /* Current angular speed (o for omega) (rad/s). */
+ 0 /* Current theta (th for theta) (rad). */
+};
+
+/* Table of models. */
+static const struct
+{
+ const char *name;
+ const struct motor_t *model;
+} models[] = {
+ { "gloubi", &gloubi_model },
+ { "taz", &taz_model },
+ { "tazg", &tazg_model },
+ { 0, 0 }
+};
+
+/** Get a pointer to a model by name, or return 0. */
+const struct motor_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].model;
+ }
+ return 0;
+}
+