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-rw-r--r--digital/asserv/src/asserv/models.host.c13
1 files changed, 10 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c
index 95446784..75a68b1d 100644
--- a/digital/asserv/src/asserv/models.host.c
+++ b/digital/asserv/src/asserv/models.host.c
@@ -22,8 +22,11 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
+#include "common.h"
+
#include "motor_model.host.h"
#include "models.host.h"
+#include "simu.host.h"
#include <math.h>
#include <string.h>
@@ -96,7 +99,7 @@ static const struct robot_t gloubi_robot =
13.0, // approx
/* Whether the encoder is mounted on the main motor (false) or not (true). */
0,
- 0.0, 0.0, { NULL, NULL }, { 0, 0 }
+ 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL
};
/* Taz, APBTeam/Efrei 2005. */
@@ -116,7 +119,7 @@ static const struct robot_t taz_robot =
0.0,
/* Whether the encoder is mounted on the main motor (false) or not (true). */
0,
- 0.0, 0.0, { NULL, NULL }, { 0, 0 }
+ 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL
};
/* TazG, Taz with RE25G motors. */
@@ -136,7 +139,7 @@ static const struct robot_t tazg_robot =
0.0,
/* Whether the encoder is mounted on the main motor (false) or not (true). */
0,
- 0.0, 0.0, { NULL, NULL }, { 0, 0 }
+ 0.0, 0.0, { NULL, NULL }, { 0, 0 }, NULL
};
/* Giboulée arm model, with a RE25CLL and a 1:10 ratio gearbox. */
@@ -183,6 +186,8 @@ static const struct robot_t giboulee_robot =
{ &giboulee_arm_model, NULL },
/** Number of steps for each auxiliary motor encoder. */
{ 500, 0 },
+ /** Sensor update function. */
+ simu_sensor_update_giboulee,
};
/* AquaJim arm model, with a RE40G and a 1:4 + 15:80 ratio gearbox. */
@@ -247,6 +252,8 @@ static const struct robot_t aquajim_robot =
{ &aquajim_arm_model, &aquajim_elevator_model },
/** Number of steps for each auxiliary motor encoder. */
{ 250, 250 },
+ /** Sensor update function. */
+ simu_sensor_update_aquajim,
};
/* Table of models. */