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authorNicolas Schodet2011-05-31 09:43:01 +0200
committerNicolas Schodet2011-05-31 15:17:36 +0200
commita309ae5825b179a0c77c8e7572f16f06fd058e10 (patch)
treed324edb74fc287b5f7febe05f8174e2c4a50d9e9 /digital/mimot/src/dirty/simu.host.c
parent31f85163b5981a78a2b6704168d0ae12929b53be (diff)
digital/mimot: add simulated robospierre contact
Diffstat (limited to 'digital/mimot/src/dirty/simu.host.c')
-rw-r--r--digital/mimot/src/dirty/simu.host.c9
1 files changed, 9 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/simu.host.c b/digital/mimot/src/dirty/simu.host.c
index af07d744..8afd73ca 100644
--- a/digital/mimot/src/dirty/simu.host.c
+++ b/digital/mimot/src/dirty/simu.host.c
@@ -152,6 +152,15 @@ simu_sensor_update_marcel (void)
{
}
+/** Update sensors for Robospierre. */
+void
+simu_sensor_update_robospierre (void)
+{
+ PINC = 0;
+ 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);
+}
+
/** Do a simulation step. */
static void
simu_step (void)