From 1b84df273251790a6e2599b23a8d580406766e26 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 13 Apr 2012 20:28:02 +0200 Subject: digital/mimot: move robot specific functions to models.host.c --- digital/mimot/src/dirty/models.host.c | 27 ++++++++++++++++++++++++++- digital/mimot/src/dirty/simu.host.c | 27 --------------------------- digital/mimot/src/dirty/simu.host.h | 18 +++--------------- 3 files changed, 29 insertions(+), 43 deletions(-) (limited to 'digital/mimot') diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c index 804edabd..a551c63a 100644 --- a/digital/mimot/src/dirty/models.host.c +++ b/digital/mimot/src/dirty/models.host.c @@ -25,12 +25,22 @@ #define _GNU_SOURCE 1 /* Need ISO C99 features as well. */ #include "common.h" +#include "io.h" + #include "models.host.h" #include "simu.host.h" +#include "contacts.h" + #include #include +static void +simu_sensor_update_robospierre (void); + +static void +simu_sensor_update_guybrush (void); + /* Marcel, APBTeam 2010. */ static const struct robot_t marcel_robot = { @@ -44,7 +54,7 @@ static const struct robot_t marcel_robot = /** Load for auxiliary motors (kg.m^2). */ { 0.100 * 0.005 * 0.005, 0.100 * 0.005 * 0.005 }, /** Sensor update function. */ - simu_sensor_update_marcel, + NULL, /** Initialisation function. */ NULL, }; @@ -130,3 +140,18 @@ models_init (const struct robot_t *robot, motor_model_t aux_motor[]) robot->init (robot, aux_motor); } +/** Update sensors for Robospierre. */ +static void +simu_sensor_update_robospierre (void) +{ + PINC = 0xf0; + if (simu_aux_model[0].th < 120.0 * 5.0 / 6.0 * simu_aux_model[0].m.i_G) + PINC |= IO_BV (CONTACT_AUX0_ZERO_IO); +} + +/** Update sensors for Guybrush. */ +static void +simu_sensor_update_guybrush (void) +{ +} + diff --git a/digital/mimot/src/dirty/simu.host.c b/digital/mimot/src/dirty/simu.host.c index efb2891a..451b2ecc 100644 --- a/digital/mimot/src/dirty/simu.host.c +++ b/digital/mimot/src/dirty/simu.host.c @@ -28,20 +28,14 @@ #include "modules/host/host.h" #include "modules/host/mex.h" -#include "modules/utils/utils.h" #include "modules/math/fixed/fixed.h" -#include "io.h" - #include #include #include #include #include "cs.h" -#include "aux.h" - -#include "contacts.h" #include "models.host.h" @@ -135,27 +129,6 @@ simu_init (void) models_init (simu_robot, simu_aux_model); } -/** Update sensors for Marcel. */ -void -simu_sensor_update_marcel (void) -{ -} - -/** Update sensors for Robospierre. */ -void -simu_sensor_update_robospierre (void) -{ - PINC = 0xf0; - if (simu_aux_model[0].th < 120.0 * 5.0 / 6.0 * simu_aux_model[0].m.i_G) - PINC |= IO_BV (CONTACT_AUX0_ZERO_IO); -} - -/** Update sensors for Guybrush. */ -void -simu_sensor_update_guybrush (void) -{ -} - /** Do a simulation step. */ static void simu_step (void) diff --git a/digital/mimot/src/dirty/simu.host.h b/digital/mimot/src/dirty/simu.host.h index 567fa399..45679d53 100644 --- a/digital/mimot/src/dirty/simu.host.h +++ b/digital/mimot/src/dirty/simu.host.h @@ -24,9 +24,12 @@ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ +#include "models.host.h" extern uint8_t PORTB, PORTC, PORTD, PINC; +extern motor_model_t simu_aux_model[AC_ASSERV_AUX_NB]; + void timer_init (void); @@ -36,19 +39,4 @@ timer_wait (void); uint8_t timer_read (void); -void -simu_sensor_update_giboulee (void); - -void -simu_sensor_update_aquajim (void); - -void -simu_sensor_update_marcel (void); - -void -simu_sensor_update_robospierre (void); - -void -simu_sensor_update_guybrush (void); - #endif /* simu_host_h */ -- cgit v1.2.3