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-rw-r--r--n/asserv/src/asserv/test_motor_model.c37
1 files changed, 7 insertions, 30 deletions
diff --git a/n/asserv/src/asserv/test_motor_model.c b/n/asserv/src/asserv/test_motor_model.c
index 14bab66..a478244 100644
--- a/n/asserv/src/asserv/test_motor_model.c
+++ b/n/asserv/src/asserv/test_motor_model.c
@@ -25,33 +25,9 @@
#include "common.h"
#include "motor_model.h"
-#include <math.h>
#include <stdio.h>
-/* Our robot model. */
-struct motor_t taz =
-{
- /* 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). */
-};
+extern struct motor_t taz_model;
void simu (struct motor_t *m, double t)
{
@@ -67,12 +43,13 @@ void simu (struct motor_t *m, double t)
int
main (void)
{
+ struct motor_t *m = &taz_model;
/* Make a step response simulation. */
printf ("# %10s %12s %12s %12s %12s\n", "t", "u", "i", "omega", "theta");
- taz.u = 3.0;
- printf ("%12f %12f %12f %12f %12f\n", taz.t, taz.u, taz.i, taz.o, taz.th);
- simu (&taz, 1.0);
- taz.u = 0.0;
- simu (&taz, 1.0);
+ m->u = 3.0;
+ printf ("%12f %12f %12f %12f %12f\n", m->t, m->u, m->i, m->o, m->th);
+ simu (m, 1.0);
+ m->u = 0.0;
+ simu (m, 1.0);
return 0;
}