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Diffstat (limited to 'digital/asserv/src/asserv/models.host.h')
-rw-r--r--digital/asserv/src/asserv/models.host.h10
1 files changed, 5 insertions, 5 deletions
diff --git a/digital/asserv/src/asserv/models.host.h b/digital/asserv/src/asserv/models.host.h
index 36099e64..ae2bc21d 100644
--- a/digital/asserv/src/asserv/models.host.h
+++ b/digital/asserv/src/asserv/models.host.h
@@ -49,10 +49,10 @@ struct robot_t
double encoder_wheel_r;
/** Distance between the encoders wheels (m). */
double encoder_footing;
- /** First auxiliary motor or NULL if none. */
- const struct motor_def_t *aux0_motor;
- /** Number of steps on the first auxiliary motor encoder. */
- int aux0_encoder_steps;
+ /** Auxiliary motors, NULL if not present. */
+ const struct motor_def_t *aux_motor[AC_ASSERV_AUX_NB];
+ /** Number of steps for each auxiliary motor encoder. */
+ int aux_encoder_steps[AC_ASSERV_AUX_NB];
};
/** Get a pointer to a model by name, or return 0. */
@@ -62,6 +62,6 @@ models_get (const char *name);
/** Initialise simulation models. */
void
models_init (const struct robot_t *robot, struct motor_t *main_motor_left,
- struct motor_t *main_motor_right, struct motor_t *aux0_motor);
+ struct motor_t *main_motor_right, struct motor_t aux_motor[]);
#endif /* models_host_h */