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00001 /*************************************************************************** 00002 00003 file : differential.h 00004 created : Sun Mar 19 00:06:46 CET 2000 00005 copyright : (C) 2000 by Eric Espie 00006 email : torcs@free.fr 00007 version : $Id: differential.h,v 1.5 2004/01/15 09:54:06 olethros Exp $ 00008 00009 ***************************************************************************/ 00010 00011 /*************************************************************************** 00012 * * 00013 * This program is free software; you can redistribute it and/or modify * 00014 * it under the terms of the GNU General Public License as published by * 00015 * the Free Software Foundation; either version 2 of the License, or * 00016 * (at your option) any later version. * 00017 * * 00018 ***************************************************************************/ 00019 00020 #ifndef _DIFFERENTIAL_H_ 00021 #define _DIFFERENTIAL_H_ 00022 00023 typedef struct 00024 { 00025 tdble spinVel; 00026 tdble Tq; 00027 tdble brkTq; 00028 tdble I; 00029 } tDynAxis; 00030 00031 typedef struct 00032 { 00033 /* caracteristics */ 00034 int type; 00035 #define DIFF_NONE 0 00036 #define DIFF_SPOOL 1 00037 #define DIFF_FREE 2 00038 #define DIFF_LIMITED_SLIP 3 00039 #define DIFF_VISCOUS_COUPLER 4 00040 tdble ratio; 00041 tdble I; 00042 tdble efficiency; 00043 tdble bias; 00044 tdble dTqMin; 00045 tdble dTqMax; 00046 tdble dSlipMax; 00047 tdble lockInputTq; 00048 tdble viscosity; 00049 tdble viscomax; 00050 00051 /* dynamic data */ 00052 tDynAxis in; 00053 tDynAxis feedBack; 00054 tDynAxis *inAxis[2]; 00055 tDynAxis *outAxis[2]; 00056 } tDifferential; 00057 00058 00059 00060 #endif /* _DIFFERENTIAL_H_ */ 00061 00062 00063