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Diffstat (limited to 'digital/mimot/src/dirty/models.host.h')
-rw-r--r--digital/mimot/src/dirty/models.host.h11
1 files changed, 9 insertions, 2 deletions
diff --git a/digital/mimot/src/dirty/models.host.h b/digital/mimot/src/dirty/models.host.h
index 0e53aaea..8733f05b 100644
--- a/digital/mimot/src/dirty/models.host.h
+++ b/digital/mimot/src/dirty/models.host.h
@@ -24,6 +24,7 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
+#include "modules/motor/motor_model/motor_model_defs.host.h"
#define ECHANT_PERIOD (1.0 / ((double) AC_FREQ / 256 / 256))
@@ -32,11 +33,17 @@
struct robot_t
{
/** Auxiliary motors, NULL if not present. */
- const struct motor_def_t *aux_motor[AC_ASSERV_AUX_NB];
+ const motor_model_def_t *aux_motor[AC_ASSERV_AUX_NB];
+ /** Motors voltage (V). */
+ double u_max;
/** Number of steps for each auxiliary motor encoder. */
int aux_encoder_steps[AC_ASSERV_AUX_NB];
+ /** Load for auxiliary motors (kg.m^2). */
+ double aux_load[AC_ASSERV_AUX_NB];
/** Sensor update function. */
void (*sensor_update) (void);
+ /** Initialisation function. */
+ void (*init) (const struct robot_t *robot, motor_model_t aux_motor[]);
};
/** Get a pointer to a model by name, or return 0. */
@@ -45,6 +52,6 @@ models_get (const char *name);
/** Initialise simulation models. */
void
-models_init (const struct robot_t *robot, struct motor_t aux_motor[]);
+models_init (const struct robot_t *robot, motor_model_t aux_motor[]);
#endif /* models_host_h */