From bc38b408c53281ee985f6f9d67accc5733d99e37 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 28 Jan 2008 21:12:12 +0100 Subject: * digital/asserv/src/asserv: - imported old sources. - removed holes support (rule 2006). --- digital/asserv/src/asserv/test_motor_model.c | 70 ++++++++++++++++++++++++++++ 1 file changed, 70 insertions(+) create mode 100644 digital/asserv/src/asserv/test_motor_model.c (limited to 'digital/asserv/src/asserv/test_motor_model.c') diff --git a/digital/asserv/src/asserv/test_motor_model.c b/digital/asserv/src/asserv/test_motor_model.c new file mode 100644 index 00000000..f5fb575b --- /dev/null +++ b/digital/asserv/src/asserv/test_motor_model.c @@ -0,0 +1,70 @@ +/* test_motor_model.c - Test DC motor model. */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2006 Nicolas Schodet + * + * Robot APB Team/Efrei 2006. + * Web: http://assos.efrei.fr/robot/ + * Email: robot AT efrei DOT fr + * + * 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 "motor_model.host.h" +#include "models.host.h" + +#include + +void simu (struct motor_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) +{ + struct motor_t ms; + struct motor_t *m; + const struct robot_t *mr; + /* Check arguments. */ + if (argc != 2) + { + fprintf (stderr, "syntax: %s MODEL\n", argv[0]); + return 1; + } + mr = models_get (argv[1]); + if (!mr) + { + fprintf (stderr, "model unknown\n"); + return 1; + } + ms = *mr->motor; + m = &ms; + /* Make a step response simulation. */ + printf ("# %10s %12s %12s %12s %12s\n", "t", "u", "i", "omega", "theta"); + m->u = 3.0; + 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; +} -- cgit v1.2.3