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Servo 的代码
makefile
# Makefile for ptpd
CFLAGS = -Wall
executable = ptpd
objects = ptpd.o arith.o bmc.o protocol.o timer.o
headers = ptpd.h constants.h datatypes.h
dep_dir = dep/
dep_objects = msg.o net.o servo.o star
servo.c
#include "../ptpd.h"
void initClock(PtpClock *ptpClock)
{
DBG("clockInit\n");
/* clear vars */
ptpClock->master_to_slave_delay.seconds = ptpClock->master_to_slave_delay.nanoseconds = 0;
pt
servo_pwm_sfcn_9s12.tlc
%% File : servo_pwm_sfcn_9S12.tlc
%%
%% Description:
%% Servo Motor PWM device driver for the MC9S12DP256B/C
%%
%% fw-04-05
%%
%implements servo_pwm_sfcn_9S12 "C"
%% add required inclu
mpc02.inf
; Mpc02.Inf - install information file
; Copyright ?2002 Step Servo Co., Ltd.
[Version]
Signature="$Chicago$"
Class=(StepServo)运动控制卡
ClassGUID={8C6E8180-5349-11d8-949D-000AEB18B8E8}
Provider=%
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_5i.m
%Three Loop of Flight Simulator Servo System with Direct Current Motor
clear all;
close all;
%(1)Current loop
L=0.001; %L
chap9_6i.m
%Three Loop of Flight Simulator Servo System with two-mass of Direct Current Motor
clear all;
close all;
%(1)Current loop
L=0.001; %L
chap7_5.m
%Nonlinear PID Control for a servo system
clear all;
close all;
ts=0.001;
J=1/133;
q=25/133;
sys=tf(1,[J,q,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
r_1=0;r_2=0;
u_1=0;u_2=0
servo.h
/**************************************************************************
(C)Copyright Cheertek Inc. 2002-2003,
D300, all right reserved
Product : WinDVD Firmware