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-rw-r--r--digital/avr/modules/motor/motor_model/test/Makefile10
-rw-r--r--digital/avr/modules/motor/motor_model/test/test_motor_model.c79
2 files changed, 89 insertions, 0 deletions
diff --git a/digital/avr/modules/motor/motor_model/test/Makefile b/digital/avr/modules/motor/motor_model/test/Makefile
new file mode 100644
index 00000000..256d1128
--- /dev/null
+++ b/digital/avr/modules/motor/motor_model/test/Makefile
@@ -0,0 +1,10 @@
+BASE = ../../../..
+HOST_PROGS = test_motor_model
+test_motor_model_SOURCES = test_motor_model.c
+MODULES = motor/motor_model
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+HOST_LIBS = -lm
+
+include $(BASE)/make/Makefile.gen
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;
+}
+