From a309ae5825b179a0c77c8e7572f16f06fd058e10 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 31 May 2011 09:43:01 +0200 Subject: digital/mimot: add simulated robospierre contact --- digital/mimot/src/dirty/simu.host.c | 9 +++++++++ 1 file changed, 9 insertions(+) (limited to 'digital/mimot/src/dirty/simu.host.c') diff --git a/digital/mimot/src/dirty/simu.host.c b/digital/mimot/src/dirty/simu.host.c index af07d744..8afd73ca 100644 --- a/digital/mimot/src/dirty/simu.host.c +++ b/digital/mimot/src/dirty/simu.host.c @@ -152,6 +152,15 @@ simu_sensor_update_marcel (void) { } +/** Update sensors for Robospierre. */ +void +simu_sensor_update_robospierre (void) +{ + PINC = 0; + if (simu_aux_model[0].th < 120.0 * 5.0 / 6.0 * simu_aux_model[0].m.i_G) + PINC |= IO_BV (CONTACT_AUX0_ZERO_IO); +} + /** Do a simulation step. */ static void simu_step (void) -- cgit v1.2.3