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-rw-r--r--digital/mimot/src/dirty/models.host.c18
-rw-r--r--digital/mimot/src/dirty/simu.host.c6
-rw-r--r--digital/mimot/src/dirty/simu.host.h3
3 files changed, 27 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c
index bdd19e62..804edabd 100644
--- a/digital/mimot/src/dirty/models.host.c
+++ b/digital/mimot/src/dirty/models.host.c
@@ -66,6 +66,23 @@ static const struct robot_t robospierre_robot =
NULL,
};
+/* Guybrush, APBTeam 2012. */
+static const struct robot_t guybrush_robot =
+{
+ /** Auxiliary motors, NULL if not present. */
+ { &motor_model_def_amax32ghp_x16, &motor_model_def_amax32ghp_x16 },
+ /** Motors voltage (V). */
+ 24.0,
+ /** Number of steps for each auxiliary motor encoder. */
+ { 250, 250 },
+ /** Load for auxiliary motors (kg.m^2). */
+ { 1.000 * 0.05 * 0.05, 0.200 * 0.010 * 0.010 },
+ /** Sensor update function. */
+ simu_sensor_update_guybrush,
+ /** Initialisation function. */
+ NULL,
+};
+
/* Table of models. */
static const struct
{
@@ -74,6 +91,7 @@ static const struct
} models[] = {
{ "marcel", &marcel_robot },
{ "robospierre", &robospierre_robot },
+ { "guybrush", &guybrush_robot },
{ 0, 0 }
};
diff --git a/digital/mimot/src/dirty/simu.host.c b/digital/mimot/src/dirty/simu.host.c
index 7ee2c544..efb2891a 100644
--- a/digital/mimot/src/dirty/simu.host.c
+++ b/digital/mimot/src/dirty/simu.host.c
@@ -150,6 +150,12 @@ simu_sensor_update_robospierre (void)
PINC |= IO_BV (CONTACT_AUX0_ZERO_IO);
}
+/** Update sensors for Guybrush. */
+void
+simu_sensor_update_guybrush (void)
+{
+}
+
/** Do a simulation step. */
static void
simu_step (void)
diff --git a/digital/mimot/src/dirty/simu.host.h b/digital/mimot/src/dirty/simu.host.h
index 87a728b6..567fa399 100644
--- a/digital/mimot/src/dirty/simu.host.h
+++ b/digital/mimot/src/dirty/simu.host.h
@@ -48,4 +48,7 @@ simu_sensor_update_marcel (void);
void
simu_sensor_update_robospierre (void);
+void
+simu_sensor_update_guybrush (void);
+
#endif /* simu_host_h */