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+/* test_motor_model.c - Test DC motor model. */
+/* 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 "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). */
+};
+
+void simu (struct motor_t *m, double t)
+{
+ int i, s;
+ s = t / m->h;
+ for (i = 0; i < s; i++)
+ {
+ motor_model_step (m);
+ printf ("%12f %12f %12f %12f %12f\n", m->t, m->u, m->i, m->o, m->th);
+ }
+}
+
+int
+main (void)
+{
+ /* 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);
+ return 0;
+}