summaryrefslogtreecommitdiff
path: root/n/asserv/src/asserv/test_motor_model.c
diff options
context:
space:
mode:
Diffstat (limited to 'n/asserv/src/asserv/test_motor_model.c')
-rw-r--r--n/asserv/src/asserv/test_motor_model.c25
1 files changed, 20 insertions, 5 deletions
diff --git a/n/asserv/src/asserv/test_motor_model.c b/n/asserv/src/asserv/test_motor_model.c
index a478244..c166999 100644
--- a/n/asserv/src/asserv/test_motor_model.c
+++ b/n/asserv/src/asserv/test_motor_model.c
@@ -23,12 +23,11 @@
*
* }}} */
#include "common.h"
-#include "motor_model.h"
+#include "motor_model.host.h"
+#include "models.host.h"
#include <stdio.h>
-extern struct motor_t taz_model;
-
void simu (struct motor_t *m, double t)
{
int i, s;
@@ -41,9 +40,25 @@ void simu (struct motor_t *m, double t)
}
int
-main (void)
+main (int argc, char **argv)
{
- struct motor_t *m = &taz_model;
+ struct motor_t ms;
+ struct motor_t *m;
+ const struct motor_t *mr;
+ /* Check arguments. */
+ if (argc != 2)
+ {
+ fprintf (stderr, "syntax: %s MODEL\n", argv[0]);
+ return 1;
+ }
+ mr = models_get (argv[1]);
+ if (!mr)
+ {
+ fprintf (stderr, "model unknown\n");
+ return 1;
+ }
+ ms = *mr;
+ m = &ms;
/* Make a step response simulation. */
printf ("# %10s %12s %12s %12s %12s\n", "t", "u", "i", "omega", "theta");
m->u = 3.0;