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-rw-r--r--n/asserv/src/asserv/taz_model.c52
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diff --git a/n/asserv/src/asserv/taz_model.c b/n/asserv/src/asserv/taz_model.c
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-/* taz_model.c */
-/* asserv - Position & speed motor control on AVR. {{{
- *
- * Copyright (C) 2006 Nicolas Schodet
- *
- * 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.
- *
- * Contact :
- * Web: http://perso.efrei.fr/~schodet/
- * Email: <contact@ni.fr.eu.org>
- * }}} */
-#include "motor_model.h"
-
-#include <math.h>
-
-/* Taz model. */
-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). */
-};
-