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-rw-r--r--digital/asserv/src/asserv/models.host.h2
-rw-r--r--digital/mimot/src/asserv/models.host.c3
2 files changed, 3 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/models.host.h b/digital/asserv/src/asserv/models.host.h
index d865aa6b..257c0dec 100644
--- a/digital/asserv/src/asserv/models.host.h
+++ b/digital/asserv/src/asserv/models.host.h
@@ -28,7 +28,7 @@
#define ECHANT_PERIOD (1.0 / (14745600.0 / 256 / 256))
-#define CORNERS_NB 4
+#define CORNERS_NB 5
/** Define a robot and its peripherals.
* Encoder characteristics are defined at gearbox output. */
diff --git a/digital/mimot/src/asserv/models.host.c b/digital/mimot/src/asserv/models.host.c
index 27a696ea..68931682 100644
--- a/digital/mimot/src/asserv/models.host.c
+++ b/digital/mimot/src/asserv/models.host.c
@@ -75,7 +75,8 @@ static const struct robot_t guybrush_robot =
* table. */
simu_table_test_guybrush,
/** Robot corners, from front left, then clockwise. */
- { { 150, 171.5 }, { 150, -171.5 }, { -130, -121.5 }, { -130, 121.5 } },
+ { { 150, 171.5 }, { 150, -171.5 }, { -130, -121.5 }, { -130, 121.5 },
+ { 150, 0 } },
/** Initialisation function. */
NULL,
};