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-rw-r--r--digital/asserv/src/asserv/motor_model.host.c14
1 files changed, 7 insertions, 7 deletions
diff --git a/digital/asserv/src/asserv/motor_model.host.c b/digital/asserv/src/asserv/motor_model.host.c
index 9447c1c3..37171c32 100644
--- a/digital/asserv/src/asserv/motor_model.host.c
+++ b/digital/asserv/src/asserv/motor_model.host.c
@@ -26,7 +26,7 @@
#include "motor_model.host.h"
/**
- * Switching to french for all thoses non english speaking people.
+ * Switching to french for all those non english speaking people.
*
* Ce fichier permet de modéliser un moteur à courant continue. Il y a deux
* parties, la modélisation électrique et la modélisation mécanique.
@@ -68,14 +68,14 @@ void motor_model_step (struct motor_t *m)
/* Make several small steps to increase precision. */
for (; d; d--)
{
- /* Ah, the mistical power of computation. */
+ /* Ah, the mystical power of computation. */
i_ = m->i
- + h * (1.0 / m->L * m->u
- - m->R / m->L * m->i
- - 1.0 / m->Ke / m->L * m->o);
+ + h * (1.0 / m->m.L * m->u
+ - m->m.R / m->m.L * m->i
+ - 1.0 / m->m.Ke / m->m.L * m->o);
o_ = m->o
- + h * m->i_G * m->i_G * m->ro_G / m->J
- * (m->Kt * m->i - m->Rf * m->o);
+ + h * m->m.i_G * m->m.i_G * m->m.ro_G / m->m.J
+ * (m->m.Kt * m->i - m->m.Rf * m->o);
th_ = m->th + h * m->o;
/* Ok, now store this step. */
m->i = i_;