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authorNicolas Schodet2012-04-13 20:28:02 +0200
committerNicolas Schodet2012-04-13 20:28:02 +0200
commit1b84df273251790a6e2599b23a8d580406766e26 (patch)
tree6e86d0b74fe71fa9108b5584a7ffa2c79767db5c /digital/mimot/src
parent1ae19c087d9a6814622cb1abf9ffe34f1e8c5f55 (diff)
digital/mimot: move robot specific functions to models.host.c
Diffstat (limited to 'digital/mimot/src')
-rw-r--r--digital/mimot/src/dirty/models.host.c27
-rw-r--r--digital/mimot/src/dirty/simu.host.c27
-rw-r--r--digital/mimot/src/dirty/simu.host.h18
3 files changed, 29 insertions, 43 deletions
diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c
index 804edabd..a551c63a 100644
--- a/digital/mimot/src/dirty/models.host.c
+++ b/digital/mimot/src/dirty/models.host.c
@@ -25,12 +25,22 @@
#define _GNU_SOURCE 1 /* Need ISO C99 features as well. */
#include "common.h"
+#include "io.h"
+
#include "models.host.h"
#include "simu.host.h"
+#include "contacts.h"
+
#include <math.h>
#include <string.h>
+static void
+simu_sensor_update_robospierre (void);
+
+static void
+simu_sensor_update_guybrush (void);
+
/* Marcel, APBTeam 2010. */
static const struct robot_t marcel_robot =
{
@@ -44,7 +54,7 @@ static const struct robot_t marcel_robot =
/** Load for auxiliary motors (kg.m^2). */
{ 0.100 * 0.005 * 0.005, 0.100 * 0.005 * 0.005 },
/** Sensor update function. */
- simu_sensor_update_marcel,
+ NULL,
/** Initialisation function. */
NULL,
};
@@ -130,3 +140,18 @@ models_init (const struct robot_t *robot, motor_model_t aux_motor[])
robot->init (robot, aux_motor);
}
+/** Update sensors for Robospierre. */
+static void
+simu_sensor_update_robospierre (void)
+{
+ PINC = 0xf0;
+ 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);
+}
+
+/** Update sensors for Guybrush. */
+static void
+simu_sensor_update_guybrush (void)
+{
+}
+
diff --git a/digital/mimot/src/dirty/simu.host.c b/digital/mimot/src/dirty/simu.host.c
index efb2891a..451b2ecc 100644
--- a/digital/mimot/src/dirty/simu.host.c
+++ b/digital/mimot/src/dirty/simu.host.c
@@ -28,20 +28,14 @@
#include "modules/host/host.h"
#include "modules/host/mex.h"
-#include "modules/utils/utils.h"
#include "modules/math/fixed/fixed.h"
-#include "io.h"
-
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include "cs.h"
-#include "aux.h"
-
-#include "contacts.h"
#include "models.host.h"
@@ -135,27 +129,6 @@ simu_init (void)
models_init (simu_robot, simu_aux_model);
}
-/** Update sensors for Marcel. */
-void
-simu_sensor_update_marcel (void)
-{
-}
-
-/** Update sensors for Robospierre. */
-void
-simu_sensor_update_robospierre (void)
-{
- PINC = 0xf0;
- 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);
-}
-
-/** Update sensors for Guybrush. */
-void
-simu_sensor_update_guybrush (void)
-{
-}
-
/** Do a simulation step. */
static void
simu_step (void)
diff --git a/digital/mimot/src/dirty/simu.host.h b/digital/mimot/src/dirty/simu.host.h
index 567fa399..45679d53 100644
--- a/digital/mimot/src/dirty/simu.host.h
+++ b/digital/mimot/src/dirty/simu.host.h
@@ -24,9 +24,12 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
+#include "models.host.h"
extern uint8_t PORTB, PORTC, PORTD, PINC;
+extern motor_model_t simu_aux_model[AC_ASSERV_AUX_NB];
+
void
timer_init (void);
@@ -36,19 +39,4 @@ timer_wait (void);
uint8_t
timer_read (void);
-void
-simu_sensor_update_giboulee (void);
-
-void
-simu_sensor_update_aquajim (void);
-
-void
-simu_sensor_update_marcel (void);
-
-void
-simu_sensor_update_robospierre (void);
-
-void
-simu_sensor_update_guybrush (void);
-
#endif /* simu_host_h */