From 1431438a2b0f3fafbafb61a4a15296164dadf5e1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 Apr 2009 16:22:53 +0200 Subject: * digital/asserv: - added second auxiliary motor support. --- digital/asserv/src/asserv/models.host.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'digital/asserv/src/asserv/models.host.h') 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 */ -- cgit v1.2.3