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authorNicolas Schodet2008-04-21 00:30:41 +0200
committerNicolas Schodet2008-04-21 00:30:41 +0200
commit19e614348483e09ddb2acca5fcf905ec0c582625 (patch)
tree5cf25e494f2b0bf5cf3c693b1904b3d8f5651ead /digital/asserv/src/asserv/simu.host.c
parent557fdd8e9bea25a1f5d81d93466dac2abfef6cd3 (diff)
* digital/asserv/src/asserv:
- added find zero auxiliary command.
Diffstat (limited to 'digital/asserv/src/asserv/simu.host.c')
-rw-r--r--digital/asserv/src/asserv/simu.host.c6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c
index 8b499123..64fc38db 100644
--- a/digital/asserv/src/asserv/simu.host.c
+++ b/digital/asserv/src/asserv/simu.host.c
@@ -131,6 +131,7 @@ simu_pos_update (double dl, double dr, double footing)
static void
simu_sensor_update (void)
{
+ /** Micro-switch sensors. */
static const double sensors[][2] =
{
{ -70.0, 200.0 },
@@ -153,6 +154,11 @@ simu_sensor_update (void)
PINC |= bit;
bit <<= 1;
}
+ /** Top zero sensor. */
+ double aa = simu_aux0_model.th / simu_aux0_model.m.i_G * 3;
+ if (!(cos (aa) > 0 && fabs (sin (aa)) * 80.0 < 7.5))
+ PINC |= bit;
+ bit <<= 1;
}
/** Do a simulation step. */