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authorNicolas Schodet2009-05-20 17:10:53 +0200
committerNicolas Schodet2009-05-20 17:10:53 +0200
commitdb059513199e3658722877c899c1257c4898384b (patch)
treef1ded635dbc28374fc15c0ded9ca68b19c031a22 /digital/asserv
parent7180809104afcd7ce8daf0603453ae4cbb896766 (diff)
* digital/asserv/src/asserv:
- moved arm zero.
Diffstat (limited to 'digital/asserv')
-rw-r--r--digital/asserv/src/asserv/simu.host.c4
1 files changed, 3 insertions, 1 deletions
diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c
index f730fd41..a4b34138 100644
--- a/digital/asserv/src/asserv/simu.host.c
+++ b/digital/asserv/src/asserv/simu.host.c
@@ -214,7 +214,9 @@ simu_sensor_update_aquajim (void)
PINC |= sensors_bit[i];
}
/** Top zero sensors. */
- double aa = simu_aux_model[0].th / simu_aux_model[0].m.i_G;
+ double aa = simu_aux_model[0].th / simu_aux_model[0].m.i_G
+ - M_PI / 6 - 2 * M_PI / 3
+ + 2 * M_PI * 0x43e / simu_robot->aux_encoder_steps[0];
double apos = aa / (2 * M_PI / 3);
if (apos - floor (apos) > 0.5)
PINC |= IO_BV (CONTACT_AUX0_ZERO_IO);