From 23db3d37f57602453d21745810232b204b4ca264 Mon Sep 17 00:00:00 2001 From: schodet Date: Fri, 20 Jan 2006 20:36:48 +0000 Subject: PrĂȘt pour la compilation sur host. --- n/asserv/src/asserv/test_motor_model.c | 37 +++++++--------------------------- 1 file changed, 7 insertions(+), 30 deletions(-) (limited to 'n/asserv/src/asserv/test_motor_model.c') 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 #include -/* 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; } -- cgit v1.2.3