/* models.host.c */ /* 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 "motor_model.host.h" #include "models.host.h" #include #include /* Gloubi model. */ static const struct motor_t gloubi_model = { /* Motor caracteristics. */ 407 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */ 23.4 / 1000, /* Torque constant (N.m/A). */ 0, /* Bearing friction (N.m/(rad/s)). */ 2.18, /* Terminal resistance (Ohm). */ 0.24 / 1000, /* Terminal inductance (H). */ /* Gearbox caracteristics. */ 10, /* Gearbox ratio. */ 0.75, /* Gearbox efficiency. */ /* Load caracteristics. */ 4 * 0.02 * 0.02, /* Load (kg.m^2). */ /* Wheel caracteristics. */ 0.02, /* Wheel radius (m). */ /* Simulation parameters. */ 4.444444 / 1000, /* Simulation time step (s). */ 1000, /* Simulation time step division. */ /* Simulation current state. */ 0, /* Current time (not realy used) (s). */ 0, /* Current input voltage (V). */ 0, /* Current current (A). */ 0, /* Current angular speed (o for omega) (rad/s). */ 0 /* Current theta (th for theta) (rad). */ }; static const struct robot_t gloubi_robot = { &gloubi_model, 26.0, /* Distance between the wheels (m). */ }; /* Taz model. */ static const struct motor_t taz_model = { /* Motor caracteristics. */ 407 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */ 23.4 / 1000, /* Torque constant (N.m/A). */ 0, /* Bearing friction (N.m/(rad/s)). */ 2.18, /* Terminal resistance (Ohm). */ 0.24 / 1000, /* Terminal inductance (H). */ /* Gearbox caracteristics. */ 10, /* Gearbox ratio. */ 0.75, /* Gearbox efficiency. */ /* Load caracteristics. */ 10 * 0.04 * 0.04, /* Load (kg.m^2). */ /* Wheel caracteristics. */ 0.04, /* Wheel radius (m). */ /* Simulation parameters. */ 4.444444 / 1000, /* Simulation time step (s). */ 1000, /* Simulation time step division. */ /* Simulation current state. */ 0, /* Current time (not realy used) (s). */ 0, /* Current input voltage (V). */ 0, /* Current current (A). */ 0, /* Current angular speed (o for omega) (rad/s). */ 0 /* Current theta (th for theta) (rad). */ }; static const struct robot_t taz_robot = { &taz_model, 30.0, /* Distance between the wheels (m). */ }; /* Taz model, with a RE25G and a 1:20.25 ratio gearbox. */ static const struct motor_t tazg_model = { /* Motor caracteristics. */ 407 * (2*M_PI) / 60,/* Speed constant ((rad/s)/V). */ 40.2 / 1000, /* Torque constant (N.m/A). */ 0, /* Bearing friction (N.m/(rad/s)). */ 2.32, /* Terminal resistance (Ohm). */ 0.24 / 1000, /* Terminal inductance (H). */ /* Gearbox caracteristics. */ 20.25, /* Gearbox ratio. */ 0.75, /* Gearbox efficiency. */ /* Load caracteristics. */ 10 * 0.04 * 0.04, /* Load (kg.m^2). */ /* Wheel caracteristics. */ 0.04, /* Wheel radius (m). */ /* Simulation parameters. */ 4.444444 / 1000, /* Simulation time step (s). */ 1000, /* Simulation time step division. */ /* Simulation current state. */ 0, /* Current time (not realy used) (s). */ 0, /* Current input voltage (V). */ 0, /* Current current (A). */ 0, /* Current angular speed (o for omega) (rad/s). */ 0 /* Current theta (th for theta) (rad). */ }; static const struct robot_t tazg_robot = { &tazg_model, 30.0, /* Distance between the wheels (m). */ }; /* Table of models. */ static const struct { const char *name; const struct robot_t *robot; } models[] = { { "gloubi", &gloubi_robot }, { "taz", &taz_robot }, { "tazg", &tazg_robot }, { 0, 0 } }; /** Get a pointer to a model by name, or return 0. */ const struct robot_t * models_get (const char *name) { int i; for (i = 0; models[i].name; i++) { if (strcmp (models[i].name, name) == 0) return models[i].robot; } return 0; }