summaryrefslogtreecommitdiffhomepage
diff options
context:
space:
mode:
authorNicolas Schodet2011-05-23 20:39:11 +0200
committerNicolas Schodet2011-05-23 20:39:11 +0200
commitbd04b586866d0770905cf5e89c97face316719d2 (patch)
tree6281722b8e7ae4f45ad699b834adfb13e385d0ac
parent6548d83aa655176ef939817e36cd05d0e6cfaccd (diff)
digital/mimot: default to unlimited motor
-rw-r--r--digital/mimot/src/dirty/models.host.c2
-rw-r--r--host/simu/robots/marcel/model/loader.py1
2 files changed, 2 insertions, 1 deletions
diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c
index efea35bc..a835298f 100644
--- a/digital/mimot/src/dirty/models.host.c
+++ b/digital/mimot/src/dirty/models.host.c
@@ -49,7 +49,7 @@ static const struct motor_def_t marcel_clamp_f2342_model =
0.100 * 0.005 * 0.005,/* Load (kg.m^2). */
/* This is a pifometric estimation. */
/* Hardware limits. */
- 0.0, +INFINITY,
+ -INFINITY, +INFINITY,
};
/* Marcel, APBTeam 2010. */
diff --git a/host/simu/robots/marcel/model/loader.py b/host/simu/robots/marcel/model/loader.py
index ae1caa7d..7f767b5a 100644
--- a/host/simu/robots/marcel/model/loader.py
+++ b/host/simu/robots/marcel/model/loader.py
@@ -91,6 +91,7 @@ class Loader (Observable):
limit = (((self.CLAMP_WIDTH - tickness) * 0.5 + 5)
/ self.CLAMP_PULLEY_RADIUS)
for l in self.clamp_link:
+ l.limits.min = 0
l.limits.max = limit
l.limits.notify ()
self.tickness = tickness