From df7d0d94ecc69fa9aadd2ab90db89b5ef1a74030 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 29 Apr 2010 23:03:56 +0200 Subject: digital/mimot/src/dirty: add copy/pasted firmware for mimot, refs #123 This is a quick and dirty firmware copied from asserv. This will be improved once #124 is closed. --- digital/mimot/src/dirty/models.host.h | 50 +++++++++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 digital/mimot/src/dirty/models.host.h (limited to 'digital/mimot/src/dirty/models.host.h') diff --git a/digital/mimot/src/dirty/models.host.h b/digital/mimot/src/dirty/models.host.h new file mode 100644 index 00000000..0e53aaea --- /dev/null +++ b/digital/mimot/src/dirty/models.host.h @@ -0,0 +1,50 @@ +#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 */ -- cgit v1.2.3