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Diffstat (limited to 'digital/asserv/src/asserv/simu.host.c')
-rw-r--r--digital/asserv/src/asserv/simu.host.c6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c
index 82f628ca..9029e002 100644
--- a/digital/asserv/src/asserv/simu.host.c
+++ b/digital/asserv/src/asserv/simu.host.c
@@ -292,9 +292,11 @@ simu_step (void)
* ((double) output_left.cur / (OUTPUT_MAX + 1));
simu_right_model.u = simu_robot->u_max
* ((double) output_right.cur / (OUTPUT_MAX + 1));
+#if AC_ASSERV_AUX_NB
for (i = 0; i < AC_ASSERV_AUX_NB; i++)
simu_aux_model[i].u = simu_robot->u_max
* ((double) output_aux[i].cur / (OUTPUT_MAX + 1));
+#endif
/* Make one step. */
old_left_th = simu_left_model.th;
old_right_th = simu_right_model.th;
@@ -375,6 +377,7 @@ simu_step (void)
encoder_right.diff = encoder_right_new - simu_encoder_right;
encoder_right.cur += encoder_right.diff;
simu_encoder_right = encoder_right_new;
+#if AC_ASSERV_AUX_NB
/* Update auxiliary encoder. */
for (i = 0; i < AC_ASSERV_AUX_NB; i++)
{
@@ -393,6 +396,7 @@ simu_step (void)
simu_encoder_aux[i] = 0;
}
}
+#endif
/* Update sensors. */
if (simu_robot->sensor_update)
simu_robot->sensor_update ();
@@ -432,8 +436,10 @@ simu_send (void)
{
m = mex_msg_new (simu_mex_pwm);
mex_msg_push (m, "hh", output_left.cur, output_right.cur);
+#if AC_ASSERV_AUX_NB
for (i = 0; i < AC_ASSERV_AUX_NB; i++)
mex_msg_push (m, "h", output_aux[i].cur);
+#endif
mex_node_send (m);
output_left_sent = output_left.cur;
output_right_sent = output_right.cur;