00001 // -*- C++ -*- 00010 #ifndef MOTOR_HEAT_PARAM_H 00011 #define MOTOR_HEAT_PARAM_H 00012 00013 00014 // </rtc-template> 00015 class MotorHeatParam 00016 { 00017 public: 00018 // Tnew = T + (P - ((T - Ta) / R) * dt) / C 00019 // = T + ((Re*K^2/C) * tau^2) + ((1/RC) * (T - Ta) * dt) 00020 // * P = Re * I^2 = Re * (K * tau)^2 00021 00022 double temperature; // current temperature 00023 double currentCoeffs; // Re*K^2/C 00024 double thermoCoeffs; // 1/RC 00025 00026 MotorHeatParam(){ 00027 defaultParams(); 00028 } 00029 00030 // default params for motor heat param 00031 void defaultParams(){ 00032 temperature = 30.0; 00033 currentCoeffs = 0.00003; 00034 thermoCoeffs = 0.001; 00035 } 00036 00037 }; 00038 00039 #endif // MOTOR_HEAT_PARAM_H