From 50b8abe7f025cd2a4a498c24da37826a6e2b585a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 4 May 2010 02:24:57 +0200 Subject: digital/mimot/src/dirty: add motor hardware limits See r1069. --- digital/mimot/src/dirty/motor_model.host.h | 3 +++ 1 file changed, 3 insertions(+) (limited to 'digital/mimot/src/dirty/motor_model.host.h') diff --git a/digital/mimot/src/dirty/motor_model.host.h b/digital/mimot/src/dirty/motor_model.host.h index 3a04e15a..283b6fd6 100644 --- a/digital/mimot/src/dirty/motor_model.host.h +++ b/digital/mimot/src/dirty/motor_model.host.h @@ -40,6 +40,9 @@ struct motor_def_t double ro_G;/* Gearbox efficiency. */ /* Load characteristics. */ double J; /* Load at gearbox output (kg.m^2). */ + /* Hardware limits (use +/-INFINITY for none). */ + double th_min; /* Minimum theta value. */ + double th_max; /* Maximum theta value. */ }; /** Motor and load characteristics and current data. Angular speed and theta -- cgit v1.2.3