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authorNicolas Schodet2009-05-03 00:19:40 +0200
committerNicolas Schodet2009-05-03 00:19:40 +0200
commitc00406af97d8009f89b4b542132cf2620d3f93f1 (patch)
treed12ecef82063bba129928ffb99f2cc8619a26d6f /digital/asserv/src/asserv/simu.host.c
parent3bac494997ef87da511669d75b01de6f1f5711e9 (diff)
* digital/asserv/src/asserv:
- added AquaJim model.
Diffstat (limited to 'digital/asserv/src/asserv/simu.host.c')
-rw-r--r--digital/asserv/src/asserv/simu.host.c15
1 files changed, 13 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c
index 2ae3c3d4..0570729a 100644
--- a/digital/asserv/src/asserv/simu.host.c
+++ b/digital/asserv/src/asserv/simu.host.c
@@ -250,6 +250,12 @@ simu_step (void)
counter_aux[i] += counter_aux_diff[i];
simu_counter_aux[i] = counter_aux_new;
}
+ else
+ {
+ counter_aux_diff[i] = 0;
+ counter_aux[i] = 0;
+ simu_counter_aux[i] = 0;
+ }
}
/* Update position. */
simu_pos_update ((simu_left_model.th - old_left_th)
@@ -281,8 +287,13 @@ simu_send (void)
/* Send Aux position. */
m = mex_msg_new (0xa8);
for (i = 0; i < AC_ASSERV_AUX_NB; i++)
- mex_msg_push (m, "l", (int32_t) (1024.0 * simu_aux_model[i].th
- / simu_aux_model[i].m.i_G));
+ {
+ if (simu_robot->aux_motor[i])
+ mex_msg_push (m, "l", (int32_t) (1024.0 * simu_aux_model[i].th
+ / simu_aux_model[i].m.i_G));
+ else
+ mex_msg_push (m, "l", 0);
+ }
mex_node_send (m);
}