/* test_motor_model.c - Test DC motor model. */ /* asserv - Position & speed motor control on AVR. {{{ * * Copyright (C) 2006 Nicolas Schodet * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * 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 "modules/motor/motor_model/motor_model_defs.host.h" #include #include #include void simu (motor_model_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) { double u_max, load; motor_model_t ms, *m; const motor_model_def_t *md; /* Check arguments. */ if (argc != 4) { fprintf (stderr, "syntax: %s MODEL UMAX LOAD\n", argv[0]); return 1; } u_max = atof (argv[2]); load = atof (argv[3]); md = motor_model_def_get (argv[1]); if (!md) { fprintf (stderr, "model unknown\n"); return 1; } m = &ms; memset (m, 0, sizeof (*m)); m->m = *md; m->m.J = load; m->h = 1e-3; m->d = 1000; /* Make a step response simulation. */ printf ("# %10s %12s %12s %12s %12s\n", "t", "u", "i", "omega", "theta"); m->u = u_max; 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; }