From 3c491b8c4ac9b6a502e510ba9d61cbeda2b4d128 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 30 Mar 2012 00:20:06 +0200 Subject: digital/mimot: add guybrush motor --- digital/mimot/src/dirty/models.host.c | 18 ++++++++++++++++++ digital/mimot/src/dirty/simu.host.c | 6 ++++++ digital/mimot/src/dirty/simu.host.h | 3 +++ 3 files changed, 27 insertions(+) (limited to 'digital/mimot/src') diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c index bdd19e62..804edabd 100644 --- a/digital/mimot/src/dirty/models.host.c +++ b/digital/mimot/src/dirty/models.host.c @@ -66,6 +66,23 @@ static const struct robot_t robospierre_robot = NULL, }; +/* Guybrush, APBTeam 2012. */ +static const struct robot_t guybrush_robot = +{ + /** Auxiliary motors, NULL if not present. */ + { &motor_model_def_amax32ghp_x16, &motor_model_def_amax32ghp_x16 }, + /** Motors voltage (V). */ + 24.0, + /** Number of steps for each auxiliary motor encoder. */ + { 250, 250 }, + /** Load for auxiliary motors (kg.m^2). */ + { 1.000 * 0.05 * 0.05, 0.200 * 0.010 * 0.010 }, + /** Sensor update function. */ + simu_sensor_update_guybrush, + /** Initialisation function. */ + NULL, +}; + /* Table of models. */ static const struct { @@ -74,6 +91,7 @@ static const struct } models[] = { { "marcel", &marcel_robot }, { "robospierre", &robospierre_robot }, + { "guybrush", &guybrush_robot }, { 0, 0 } }; diff --git a/digital/mimot/src/dirty/simu.host.c b/digital/mimot/src/dirty/simu.host.c index 7ee2c544..efb2891a 100644 --- a/digital/mimot/src/dirty/simu.host.c +++ b/digital/mimot/src/dirty/simu.host.c @@ -150,6 +150,12 @@ simu_sensor_update_robospierre (void) PINC |= IO_BV (CONTACT_AUX0_ZERO_IO); } +/** Update sensors for Guybrush. */ +void +simu_sensor_update_guybrush (void) +{ +} + /** Do a simulation step. */ static void simu_step (void) diff --git a/digital/mimot/src/dirty/simu.host.h b/digital/mimot/src/dirty/simu.host.h index 87a728b6..567fa399 100644 --- a/digital/mimot/src/dirty/simu.host.h +++ b/digital/mimot/src/dirty/simu.host.h @@ -48,4 +48,7 @@ simu_sensor_update_marcel (void); void simu_sensor_update_robospierre (void); +void +simu_sensor_update_guybrush (void); + #endif /* simu_host_h */ -- cgit v1.2.3