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authorNicolas Schodet2012-03-30 00:20:06 +0200
committerNicolas Schodet2012-03-30 00:21:12 +0200
commit3c491b8c4ac9b6a502e510ba9d61cbeda2b4d128 (patch)
treeca29fd16be8306fb53b30137f532edec5e3185da /digital/mimot/src/dirty/models.host.c
parentb2eeb382f494eea1c96656cc8a9e6719a6294d8f (diff)
digital/mimot: add guybrush motor
Diffstat (limited to 'digital/mimot/src/dirty/models.host.c')
-rw-r--r--digital/mimot/src/dirty/models.host.c18
1 files changed, 18 insertions, 0 deletions
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 }
};