From 3c491b8c4ac9b6a502e510ba9d61cbeda2b4d128 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 30 Mar 2012 00:20:06 +0200 Subject: digital/mimot: add guybrush motor --- digital/mimot/src/dirty/models.host.c | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) (limited to 'digital/mimot/src/dirty/models.host.c') diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c index bdd19e62..804edabd 100644 --- a/digital/mimot/src/dirty/models.host.c +++ b/digital/mimot/src/dirty/models.host.c @@ -66,6 +66,23 @@ static const struct robot_t robospierre_robot = NULL, }; +/* Guybrush, APBTeam 2012. */ +static const struct robot_t guybrush_robot = +{ + /** Auxiliary motors, NULL if not present. */ + { &motor_model_def_amax32ghp_x16, &motor_model_def_amax32ghp_x16 }, + /** Motors voltage (V). */ + 24.0, + /** Number of steps for each auxiliary motor encoder. */ + { 250, 250 }, + /** Load for auxiliary motors (kg.m^2). */ + { 1.000 * 0.05 * 0.05, 0.200 * 0.010 * 0.010 }, + /** Sensor update function. */ + simu_sensor_update_guybrush, + /** Initialisation function. */ + NULL, +}; + /* Table of models. */ static const struct { @@ -74,6 +91,7 @@ static const struct } models[] = { { "marcel", &marcel_robot }, { "robospierre", &robospierre_robot }, + { "guybrush", &guybrush_robot }, { 0, 0 } }; -- cgit v1.2.3