From e0603bf575f1f27fe3cb6a968c87d3f370e14114 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 27 Apr 2012 23:12:31 +0200 Subject: digital/asserv: add fifth corner Guybrush needs it to block when approaching a totem. --- digital/asserv/src/asserv/models.host.h | 2 +- digital/mimot/src/asserv/models.host.c | 3 ++- 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, }; -- cgit v1.2.3