From c4395e067140b7bbc40a20c4d8d720d30b096033 Mon Sep 17 00:00:00 2001 From: schodet Date: Sat, 11 Mar 2006 12:33:39 +0000 Subject: Ajout de la simulation sur host avec simulation des moteurs. --- n/asserv/src/asserv/test_motor_model.c | 25 ++++++++++++++++++++----- 1 file changed, 20 insertions(+), 5 deletions(-) (limited to 'n/asserv/src/asserv/test_motor_model.c') 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 -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; -- cgit v1.2.3