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+#ifndef models_host_h
+#define models_host_h
+/* models.host.h */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2006 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#define ECHANT_PERIOD (1.0 / ((double) AC_FREQ / 256 / 256))
+
+/** Define a robot and its peripherals.
+ * Encoder characteristics are defined at gearbox output. */
+struct robot_t
+{
+ /** 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];
+ /** Sensor update function. */
+ void (*sensor_update) (void);
+};
+
+/** Get a pointer to a model by name, or return 0. */
+const struct robot_t *
+models_get (const char *name);
+
+/** Initialise simulation models. */
+void
+models_init (const struct robot_t *robot, struct motor_t aux_motor[]);
+
+#endif /* models_host_h */