From fbca6c97e1daa0962158287c0d4eac0aa2684bcd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 13 Apr 2012 20:28:27 +0200 Subject: digital/mimot: add guybrush sensor --- digital/mimot/src/dirty/models.host.c | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'digital/mimot') diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c index a551c63a..40586673 100644 --- a/digital/mimot/src/dirty/models.host.c +++ b/digital/mimot/src/dirty/models.host.c @@ -153,5 +153,12 @@ simu_sensor_update_robospierre (void) static void simu_sensor_update_guybrush (void) { + PINC = 0xf0; + double rem = fmod (simu_aux_model[0].th / simu_aux_model[0].m.i_G, + 2 * M_PI); + if (rem < 0.0) + rem += 2 * M_PI; + if (rem > 0.01) + PINC |= IO_BV (CONTACT_AUX0_ZERO_IO); } -- cgit v1.2.3