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authorNicolas Schodet2011-12-18 15:16:09 +0100
committerNicolas Schodet2012-03-06 23:16:34 +0100
commit5948ad3b390c3c7a8deac3fea4aa6f6e93f395f7 (patch)
tree79c69b4f1ab064751c03a6078494119c6a2eb375 /digital/avr/modules/motor/motor_model/test/test_motor_model.c
parent928dc853e088849580aac368401999ea596644bb (diff)
digital/avr/modules/motor: add motor model
Diffstat (limited to 'digital/avr/modules/motor/motor_model/test/test_motor_model.c')
-rw-r--r--digital/avr/modules/motor/motor_model/test/test_motor_model.c79
1 files changed, 79 insertions, 0 deletions
diff --git a/digital/avr/modules/motor/motor_model/test/test_motor_model.c b/digital/avr/modules/motor/motor_model/test/test_motor_model.c
new file mode 100644
index 00000000..e100a222
--- /dev/null
+++ b/digital/avr/modules/motor/motor_model/test/test_motor_model.c
@@ -0,0 +1,79 @@
+/* test_motor_model.c - Test DC motor model. */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2006 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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 "modules/motor/motor_model/motor_model_defs.host.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+void
+simu (motor_model_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 (int argc, char **argv)
+{
+ double u_max, load;
+ motor_model_t ms, *m;
+ const motor_model_def_t *md;
+ /* Check arguments. */
+ if (argc != 4)
+ {
+ fprintf (stderr, "syntax: %s MODEL UMAX LOAD\n", argv[0]);
+ return 1;
+ }
+ u_max = atof (argv[2]);
+ load = atof (argv[3]);
+ md = motor_model_def_get (argv[1]);
+ if (!md)
+ {
+ fprintf (stderr, "model unknown\n");
+ return 1;
+ }
+ m = &ms;
+ memset (m, 0, sizeof (*m));
+ m->m = *md;
+ m->m.J = load;
+ m->h = 1e-3;
+ m->d = 1000;
+ /* Make a step response simulation. */
+ printf ("# %10s %12s %12s %12s %12s\n", "t", "u", "i", "omega", "theta");
+ m->u = u_max;
+ 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;
+}
+