From 1a2f907a80c7adbba9c0137d02f190af81890b9b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 20 Sep 2007 09:42:29 +0200 Subject: Added measures done on SI2E 2007 robot. --- mechanical/motors/mesures-si2e-2007/Makefile | 11 + mechanical/motors/mesures-si2e-2007/README | 41 ++ mechanical/motors/mesures-si2e-2007/a.raw | 825 ++++++++++++++++++++++++++ mechanical/motors/mesures-si2e-2007/b.raw | 642 ++++++++++++++++++++ mechanical/motors/mesures-si2e-2007/c.raw | 540 +++++++++++++++++ mechanical/motors/mesures-si2e-2007/d.raw | 842 +++++++++++++++++++++++++++ mechanical/motors/mesures-si2e-2007/e.raw | 643 ++++++++++++++++++++ mechanical/motors/mesures-si2e-2007/f.raw | 370 ++++++++++++ mechanical/motors/mesures-si2e-2007/filter.c | 42 ++ mechanical/motors/mesures-si2e-2007/g.raw | 369 ++++++++++++ mechanical/motors/mesures-si2e-2007/h.raw | 499 ++++++++++++++++ mechanical/motors/mesures-si2e-2007/i.raw | 489 ++++++++++++++++ mechanical/motors/mesures-si2e-2007/j.raw | 499 ++++++++++++++++ mechanical/motors/mesures-si2e-2007/m.m | 38 ++ 14 files changed, 5850 insertions(+) create mode 100644 mechanical/motors/mesures-si2e-2007/Makefile create mode 100644 mechanical/motors/mesures-si2e-2007/README create mode 100644 mechanical/motors/mesures-si2e-2007/a.raw create mode 100644 mechanical/motors/mesures-si2e-2007/b.raw create mode 100644 mechanical/motors/mesures-si2e-2007/c.raw create mode 100644 mechanical/motors/mesures-si2e-2007/d.raw create mode 100644 mechanical/motors/mesures-si2e-2007/e.raw create mode 100644 mechanical/motors/mesures-si2e-2007/f.raw create mode 100644 mechanical/motors/mesures-si2e-2007/filter.c create mode 100644 mechanical/motors/mesures-si2e-2007/g.raw create mode 100644 mechanical/motors/mesures-si2e-2007/h.raw create mode 100644 mechanical/motors/mesures-si2e-2007/i.raw create mode 100644 mechanical/motors/mesures-si2e-2007/j.raw create mode 100644 mechanical/motors/mesures-si2e-2007/m.m (limited to 'mechanical/motors') 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 @@ +0 0 +0 0 +0 0 +0 0 +0 1 +1 1 +2 2 +3 2 +4 3 +5 4 +7 5 +9 7 +11 9 +14 11 +17 14 +21 17 +25 20 +31 25 +37 30 +44 36 +52 43 +61 51 +71 60 +80 69 +91 80 +104 92 +117 105 +131 119 +147 134 +163 150 +180 167 +198 185 +217 204 +237 224 +258 245 +280 267 +303 290 +327 314 +352 339 +378 364 +404 391 +431 419 +461 447 +490 477 +519 507 +550 539 +581 572 +613 605 +646 639 +679 674 +713 709 +748 745 +783 781 +820 818 +857 855 +894 893 +931 932 +970 971 +1009 1010 +1048 1051 +1087 1091 +1127 1133 +1168 1174 +1209 1217 +1250 1259 +1292 1302 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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 index 00000000..116565ad --- /dev/null +++ b/mechanical/motors/mesures-si2e-2007/g.raw @@ -0,0 +1,369 @@ +0 0 +0 0 +0 1 +-1 1 +0 1 +1 0 +3 -1 +5 -2 +7 -3 +9 -5 +12 -6 +15 -8 +18 -11 +23 -13 +27 -16 +32 -20 +37 -24 +43 -30 +50 -37 +57 -43 +65 -51 +73 -59 +82 -68 +91 -78 +101 -88 +112 -99 +123 -112 +136 -125 +151 -139 +173 -155 +193 -172 +209 -189 +226 -207 +247 -226 +270 -246 +292 -267 +315 -289 +341 -312 +368 -336 +395 -360 +423 -386 +452 -414 +481 -442 +513 -471 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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 -- cgit v1.2.3