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authorNicolas Schodet2013-03-29 23:31:19 +0100
committerNicolas Schodet2013-03-30 00:01:58 +0100
commit49c97fc3dedbeb92a8169a38ea782113e3e5b575 (patch)
tree050634904a77bf954e0686fddfe7f30f8ce23d7c /digital/mimot/src/dirty/models.host.c
parent19fe8228140abb6ca01b2c00dcaa0c104b2fd16f (diff)
digital/ai, digital/mimot: add simulated mimot for APBirthday
Not very complicated, mimot is only used for the pump.
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 40586673..521b2b3c 100644
--- a/digital/mimot/src/dirty/models.host.c
+++ b/digital/mimot/src/dirty/models.host.c
@@ -93,6 +93,23 @@ static const struct robot_t guybrush_robot =
NULL,
};
+/* APBirthday, APBTeam 2013. */
+static const struct robot_t apbirthday_robot =
+{
+ /** Auxiliary motors, NULL if not present. */
+ { &motor_model_def_amax32ghp_x16, NULL },
+ /** Motors voltage (V). */
+ 24.0,
+ /** Number of steps for each auxiliary motor encoder. */
+ { 250, 0 },
+ /** Load for auxiliary motors (kg.m^2). */
+ { 1.000 * 0.05 * 0.05, 0 },
+ /** Sensor update function. */
+ NULL,
+ /** Initialisation function. */
+ NULL,
+};
+
/* Table of models. */
static const struct
{
@@ -102,6 +119,7 @@ static const struct
{ "marcel", &marcel_robot },
{ "robospierre", &robospierre_robot },
{ "guybrush", &guybrush_robot },
+ { "apbirthday", &apbirthday_robot },
{ 0, 0 }
};