From 6b3d5061623a35c96e66e25fc14af6a9323f81b0 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 8 May 2009 22:48:37 +0200 Subject: * digital/asserv: - added AquaJim simulated contacts. --- digital/asserv/src/asserv/models.host.c | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) (limited to 'digital/asserv/src/asserv/models.host.c') diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c index 95446784..75a68b1d 100644 --- a/digital/asserv/src/asserv/models.host.c +++ b/digital/asserv/src/asserv/models.host.c @@ -22,8 +22,11 @@ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ +#include "common.h" + #include "motor_model.host.h" #include "models.host.h" +#include "simu.host.h" #include #include @@ -96,7 +99,7 @@ static const struct robot_t gloubi_robot = 13.0, // approx /* Whether the encoder is mounted on the main motor (false) or not (true). */ 0, - 0.0, 0.0, { NULL, NULL }, { 0, 0 } + 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL }; /* Taz, APBTeam/Efrei 2005. */ @@ -116,7 +119,7 @@ static const struct robot_t taz_robot = 0.0, /* Whether the encoder is mounted on the main motor (false) or not (true). */ 0, - 0.0, 0.0, { NULL, NULL }, { 0, 0 } + 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL }; /* TazG, Taz with RE25G motors. */ @@ -136,7 +139,7 @@ static const struct robot_t tazg_robot = 0.0, /* Whether the encoder is mounted on the main motor (false) or not (true). */ 0, - 0.0, 0.0, { NULL, NULL }, { 0, 0 } + 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL }; /* Giboulée arm model, with a RE25CLL and a 1:10 ratio gearbox. */ @@ -183,6 +186,8 @@ static const struct robot_t giboulee_robot = { &giboulee_arm_model, NULL }, /** Number of steps for each auxiliary motor encoder. */ { 500, 0 }, + /** Sensor update function. */ + simu_sensor_update_giboulee, }; /* AquaJim arm model, with a RE40G and a 1:4 + 15:80 ratio gearbox. */ @@ -247,6 +252,8 @@ static const struct robot_t aquajim_robot = { &aquajim_arm_model, &aquajim_elevator_model }, /** Number of steps for each auxiliary motor encoder. */ { 250, 250 }, + /** Sensor update function. */ + simu_sensor_update_aquajim, }; /* Table of models. */ -- cgit v1.2.3