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-rw-r--r--mechanical/motors/mesures-si2e-2007/Makefile11
-rw-r--r--mechanical/motors/mesures-si2e-2007/README41
-rw-r--r--mechanical/motors/mesures-si2e-2007/a.raw825
-rw-r--r--mechanical/motors/mesures-si2e-2007/b.raw642
-rw-r--r--mechanical/motors/mesures-si2e-2007/c.raw540
-rw-r--r--mechanical/motors/mesures-si2e-2007/d.raw842
-rw-r--r--mechanical/motors/mesures-si2e-2007/e.raw643
-rw-r--r--mechanical/motors/mesures-si2e-2007/f.raw370
-rw-r--r--mechanical/motors/mesures-si2e-2007/filter.c42
-rw-r--r--mechanical/motors/mesures-si2e-2007/g.raw369
-rw-r--r--mechanical/motors/mesures-si2e-2007/h.raw499
-rw-r--r--mechanical/motors/mesures-si2e-2007/i.raw489
-rw-r--r--mechanical/motors/mesures-si2e-2007/j.raw499
-rw-r--r--mechanical/motors/mesures-si2e-2007/m.m38
14 files changed, 5850 insertions, 0 deletions
diff --git a/mechanical/motors/mesures-si2e-2007/Makefile b/mechanical/motors/mesures-si2e-2007/Makefile
new file mode 100644
index 00000000..d3ba027a
--- /dev/null
+++ b/mechanical/motors/mesures-si2e-2007/Makefile
@@ -0,0 +1,11 @@
+FILES = a b c d e f g h i j
+
+all: $(FILES)
+
+%: %.raw filter
+ ./filter < $< > $@
+
+filter: filter.c
+
+clean:
+ rm -f filter $(FILES)
diff --git a/mechanical/motors/mesures-si2e-2007/README b/mechanical/motors/mesures-si2e-2007/README
new file mode 100644
index 00000000..7394cbc9
--- /dev/null
+++ b/mechanical/motors/mesures-si2e-2007/README
@@ -0,0 +1,41 @@
+Essais sur le robot SI2E 2007 avec des RE025CLL, des réducteurs à renvois
+d'angle x10 et des roues de diamètre 42 mm.
+
+Base de temps : b = 65536 / 14745600 Hz ~= 0.0044444 s
+
+Après conversion par filter.c, sur chaque ligne :
+ - compteur gauche et droit
+ - différence avec la valeur précédente de compteur = vitesse
+ - différence avec la valeur précédente de vitesse = accélération
+
+Pas par mm : res = 1/2 * 75.78 1/mm
+
+Essais :
+
+a: réponse à 5 V
+b: réponse à 8 V
+c: réponse à 12 V
+d: réponse à 500 mA
+e: réponse à 1 A environ (conditions d'essais foireuses)
+f: rotation à 8 V
+g: rotation à 12 V
+h: rotation à 1 A
+i: marche avant roue libre
+j: marche arrière roue libre
+
+Courant à vide sous 12 V :
+ - gauche : 120 mA
+ - droit : 220 mA
+
+Force frottement dynamique : environ 300 à 400 g +/- une vache près
+
+Force frottement statique : environ 500 g
+
+(oui, je sais, le gramme est une unité de masse et non de force. Mais ma
+balance est graduée en grammes, j'y peux rien)
+
+Résistance des 2 câbles ensembles : 0.4 ohm
+Résistance à vide du moteur : 2.4 ohm
+Résistance câbles + moteur : 2.4 ohm (cherchez l'erreur)
+
+Poids total du robot testé : 7.5 kg
diff --git a/mechanical/motors/mesures-si2e-2007/a.raw b/mechanical/motors/mesures-si2e-2007/a.raw
new file mode 100644
index 00000000..b38853d5
--- /dev/null
+++ b/mechanical/motors/mesures-si2e-2007/a.raw
@@ -0,0 +1,825 @@
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diff --git a/mechanical/motors/mesures-si2e-2007/b.raw b/mechanical/motors/mesures-si2e-2007/b.raw
new file mode 100644
index 00000000..2c75031a
--- /dev/null
+++ b/mechanical/motors/mesures-si2e-2007/b.raw
@@ -0,0 +1,642 @@
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new file mode 100644
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diff --git a/mechanical/motors/mesures-si2e-2007/filter.c b/mechanical/motors/mesures-si2e-2007/filter.c
new file mode 100644
index 00000000..ee60da33
--- /dev/null
+++ b/mechanical/motors/mesures-si2e-2007/filter.c
@@ -0,0 +1,42 @@
+#include <stdio.h>
+#include <errno.h>
+
+int
+main (void)
+{
+ int l, r;
+ int ret;
+ short unsigned int l_in, r_in, l_last, r_last;
+ short int l_diff, r_diff, l_diff_last, r_diff_last, l_a, r_a;
+ l = r = 0;
+ l_last = r_last = 0;
+ l_diff_last = r_diff_last = 0;
+ do
+ {
+ ret = scanf ("%hd %hd\n", &l_in, &r_in);
+ if (ret == EOF)
+ break;
+ if (ret != 2)
+ {
+ fprintf (stderr, "parse error\n");
+ return 1;
+ }
+ l_diff = l_in - l_last;
+ r_diff = r_in - r_last;
+ l += l_diff;
+ r += r_diff;
+ l_last = l_in;
+ r_last = r_in;
+ l_a = l_diff - l_diff_last;
+ r_a = r_diff - r_diff_last;
+ l_diff_last = l_diff;
+ r_diff_last = r_diff;
+ printf ("%d %d %d %d %d %d\n", l, r, l_diff, r_diff, l_a, r_a);
+ } while (1);
+ if (ferror (stdin))
+ {
+ perror ("stdin");
+ return 1;
+ }
+ return 0;
+}
diff --git a/mechanical/motors/mesures-si2e-2007/g.raw b/mechanical/motors/mesures-si2e-2007/g.raw
new file mode 100644
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diff --git a/mechanical/motors/mesures-si2e-2007/m.m b/mechanical/motors/mesures-si2e-2007/m.m
new file mode 100644
index 00000000..70bfafdf
--- /dev/null
+++ b/mechanical/motors/mesures-si2e-2007/m.m
@@ -0,0 +1,38 @@
+% Plot or return matrix from a file.
+function [rt, rx, rs, ra] = m (file, f)
+ tres = 65536/14745600;
+ cres = 2/75.78 / 1000;
+ % Load file.
+ eval (sprintf ("x = load %s;", file));
+ % Make time vector.
+ t = 0:tres:tres * (length (x) -1);
+ % Split and scale.
+ x *= cres;
+ s = x(:, 3:4);
+ a = x(:, 5:6);
+ x(:, 3:6) = [];
+ s *= 1/tres;
+ a *= 1/(tres^2);
+ % The optional argument override the filter factor.
+ if (nargin == 1)
+ % A little bit aggressive...
+ f = 50;
+ end
+ if (f != 0)
+ a(:, 1) = filter (ones (1, f), [f], a(:, 1));
+ a(:, 2) = filter (ones (1, f), [f], a(:, 2));
+ end
+ % Plot if no output asked.
+ if (nargout == 0)
+ multiplot (3, 1);
+ mplot (t, x(:, 1), ";xl;", t, x(:, 2), ";xr;");
+ mplot (t, s(:, 1), ";sl;", t, s(:, 2), ";sr;");
+ mplot (t, a(:, 1), ";al;", t, a(:, 2), ";ar;");
+ oneplot ();
+ else
+ rt = t;
+ rx = x;
+ rs = s;
+ ra = a;
+ end
+end