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Servo 的代码
hal_stg.c
/********************************************************************
* Description: hal_stg.c
* This is the driver for Servo-To-Go Model I & II board.
*
* Author: Alex Joni
* License:
pluto_step.qpf
# This is a component of pluto_servo, a PWM servo driver and quadrature
# counter for emc2
# Copyright 2006 Jeff Epler
#
# This program is free software; y
main.v
// This is a component of pluto_servo, a PWM servo driver and quadrature
// counter for emc2
// Copyright 2006 Jeff Epler
//
// This program is free software; you c
register-layout.txt
Generalities
============
The register layout of the pluto-servo is an implementation detail and
may vary from release to release of emc.
The "address" is auto-incrementing after transfers.
Multi-b
servo.c
#include "../ptpd.h"
void initClock(RunTimeOpts *rtOpts, PtpClock *ptpClock)
{
DBG("initClock\n");
/* clear vars */
ptpClock->master_to_slave_delay.seconds = ptpClock->master_to_slave_delay.
servo.java
package openservo;
import i2c.*;
import java.awt.event.*;
import javax.swing.*;
/**
* 躡erschrift: U2C JNI-Wrapper
* Beschreibung:
* Copyright: Copyright (c) 2006
entries
/ControlFrame.java/1.1/Sun Jan 29 06:11:03 2006//
/Servo.java/1.1/Sun Jan 29 06:11:03 2006//
D
entries.extra
/ControlFrame.java///1138515063////
/Servo.java///1138515063////
chap9_3.m
%PID Control with Stribeck Friction Model
clear all;
close all;
global w A alfa J Ce R Km Ku S a1 Fm Fc M kv
%Servo system Parameters
J=0.6;Ce=1.2;Km=6;
Ku=11;R=7.77;
w=1*2*pi;A=0.10;
al
chap9_7i.m
%Flight Simulator Servo System
clear all;
close all;
J=2;
b=0.5;
kv=2;
kp=15;
kd=6;
f1=(b+kd*kv);
f2=J;
F=1;
A=1;
t=[0:0.001:10]'; %Simulation time
r=A*sin(2*pi*F*t);
dr=2*pi