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authorNicolas Schodet2008-04-26 08:09:22 +0200
committerNicolas Schodet2008-04-26 08:09:22 +0200
commitb666b54a8f8b6300c54d2776641897065f4470ac (patch)
treee18d51c94d54bcde8f31dd3815821ed09f2c4d41
parentad7f48df6ea99619996bb3b36f26fd6db4592230 (diff)
* digital/asserv/src/asserv:
- limited auxiliary motor to 12V, i.e. 50% PWM.
-rw-r--r--digital/asserv/src/asserv/models.host.c4
-rw-r--r--digital/asserv/src/asserv/pos.c3
2 files changed, 5 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c
index bab5b90b..b8197b60 100644
--- a/digital/asserv/src/asserv/models.host.c
+++ b/digital/asserv/src/asserv/models.host.c
@@ -148,7 +148,9 @@ static const struct motor_def_t giboulee_arm_model =
0, /* Bearing friction (N.m/(rad/s)). */
2.18, /* Terminal resistance (Ohm). */
0.24 / 1000, /* Terminal inductance (H). */
- 12.0, /* Maximum voltage (V). */
+ 24.0, /* Maximum voltage (V). */
+ /* WARNING: Giboulée arm use a 12V motor on 24V power, PWM should be
+ * limited to half scale. */
/* Gearbox characteristics. */
10, /* Gearbox ratio. */
0.75, /* Gearbox efficiency. */
diff --git a/digital/asserv/src/asserv/pos.c b/digital/asserv/src/asserv/pos.c
index 2d8c1c18..d47694c2 100644
--- a/digital/asserv/src/asserv/pos.c
+++ b/digital/asserv/src/asserv/pos.c
@@ -149,7 +149,8 @@ pos_update (void)
pid = pos_compute_pid (diff, &pos_aux0);
/* Update PWM. */
pwm_aux0 = pid;
- UTILS_BOUND (pwm_aux0, -PWM_MAX, PWM_MAX);
+ /* WARNING: crude way to limit PWM for this 12V motor. */
+ UTILS_BOUND (pwm_aux0, -(PWM_MAX / 2), (PWM_MAX / 2));
}
}
}