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authorNicolas Schodet2010-05-11 22:39:29 +0200
committerNicolas Schodet2010-05-11 22:39:29 +0200
commit3462dbdfea97226ce1ddb27d23ccaca8d10b7e11 (patch)
tree259f179fdd4374e313541f6d2c9cd67f3f9f5813 /digital/asserv/src/asserv
parent196a0500cc747be402d910ffb36ea521f842168c (diff)
digital/{asserv,io}, host/simu/robots/marcel: add gate simulation
Diffstat (limited to 'digital/asserv/src/asserv')
-rw-r--r--digital/asserv/src/asserv/models.host.c26
1 files changed, 24 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c
index 9c16539a..f4d8ca5a 100644
--- a/digital/asserv/src/asserv/models.host.c
+++ b/digital/asserv/src/asserv/models.host.c
@@ -289,6 +289,28 @@ static const struct motor_def_t marcel_elevator_model =
0.0, +INFINITY,
};
+/* Marcel gate model, with a RE25CLL and a 1:10 ratio gearbox. */
+static const struct motor_def_t marcel_gate_model =
+{
+ /* Motor characteristics. */
+ 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). */
+ 0.24 / 1000, /* Terminal inductance (H). */
+ 24.0, /* Maximum voltage (V). */
+ /* WARNING: this motor uses a 12V motor on 24V power, PWM should be
+ * limited to half scale. */
+ /* Gearbox characteristics. */
+ 10, /* Gearbox ratio. */
+ 0.75, /* Gearbox efficiency. */
+ /* Load characteristics. */
+ 0.100 * 0.01 * 0.01,/* Load (kg.m^2). */
+ /* This is a pifometric estimation. */
+ /* Hardware limits. */
+ -INFINITY, +INFINITY,
+};
+
/* Marcel, APBTeam 2010. */
static const struct robot_t marcel_robot =
{
@@ -311,9 +333,9 @@ static const struct robot_t marcel_robot =
/** Distance between the encoders wheels (m). */
0.28,
/** Auxiliary motors, NULL if not present. */
- { &marcel_elevator_model, NULL },
+ { &marcel_elevator_model, &marcel_gate_model },
/** Number of steps for each auxiliary motor encoder. */
- { 256, 0 },
+ { 256, 250 },
/** Sensor update function. */
simu_sensor_update_marcel,
};