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-rw-r--r--digital/mimot/src/dirty/models.host.c27
1 files changed, 26 insertions, 1 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)
+{
+}
+