From ddf13c7289697864c1b29dc51c44b175ef0c3023 Mon Sep 17 00:00:00 2001 From: schodet Date: Mon, 6 Aug 2007 12:41:58 +0000 Subject: Fixed bad M_2_PI usage (M_2_PI = 2/pi, not 2*pi). --- n/asserv/src/asserv/models.host.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'n/asserv/src/asserv/models.host.c') 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). */ -- cgit v1.2.3