From db059513199e3658722877c899c1257c4898384b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 20 May 2009 17:10:53 +0200 Subject: * digital/asserv/src/asserv: - moved arm zero. --- digital/asserv/src/asserv/simu.host.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'digital/asserv') diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c index f730fd41..a4b34138 100644 --- a/digital/asserv/src/asserv/simu.host.c +++ b/digital/asserv/src/asserv/simu.host.c @@ -214,7 +214,9 @@ simu_sensor_update_aquajim (void) PINC |= sensors_bit[i]; } /** Top zero sensors. */ - double aa = simu_aux_model[0].th / simu_aux_model[0].m.i_G; + double aa = simu_aux_model[0].th / simu_aux_model[0].m.i_G + - M_PI / 6 - 2 * M_PI / 3 + + 2 * M_PI * 0x43e / simu_robot->aux_encoder_steps[0]; double apos = aa / (2 * M_PI / 3); if (apos - floor (apos) > 0.5) PINC |= IO_BV (CONTACT_AUX0_ZERO_IO); -- cgit v1.2.3