differential.h

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/***************************************************************************

    file                 : differential.h
    created              : Sun Mar 19 00:06:46 CET 2000
    copyright            : (C) 2000 by Eric Espie
    email                : torcs@free.fr
    version              : $Id$

 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   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.                                   *
 *                                                                         *
 ***************************************************************************/

#ifndef _DIFFERENTIAL_H_
#define _DIFFERENTIAL_H_

typedef struct
{
    tdble   spinVel;
    tdble   Tq;
    tdble   brkTq;
    tdble   I;
} tDynAxis;

typedef struct
{
    /* caracteristics */
    int     type;
#define DIFF_NONE       0
#define DIFF_SPOOL      1
#define DIFF_FREE       2
#define DIFF_LIMITED_SLIP   3
#define DIFF_VISCOUS_COUPLER    4
    tdble   ratio;
    tdble   I;
    tdble   efficiency;
    tdble   dTqMin;
    tdble   dTqMax;
    tdble   dSlipMax;
    tdble   lockInputTq;
    tdble   lockBrakeInputTq;
    tdble   viscosity;

    /* dynamic data */
    tDynAxis    in;
    tDynAxis    feedBack;
    tDynAxis    *inAxis[2];
    tDynAxis    *outAxis[2];
} tDifferential;



#endif /* _DIFFERENTIAL_H_ */