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-rw-r--r--digital/asserv/src/asserv/aux.h20
1 files changed, 10 insertions, 10 deletions
diff --git a/digital/asserv/src/asserv/aux.h b/digital/asserv/src/asserv/aux.h
index 167f880e..98a407b3 100644
--- a/digital/asserv/src/asserv/aux.h
+++ b/digital/asserv/src/asserv/aux.h
@@ -24,16 +24,13 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
+#include "cs.h"
/** Auxiliary motor informations. */
struct aux_t
{
- /** Associated state. */
- struct state_t *state;
- /** Controlled speed. */
- struct speed_t *speed;
- /** Associated PWM. */
- struct pwm_t *pwm;
+ /** Associated control system. */
+ control_system_single_t *cs;
/** Absolute position. */
int16_t pos;
/** Trajectory mode. */
@@ -59,16 +56,19 @@ void
aux_pos_update (void);
void
-aux_traj_goto_start (struct aux_t *aux, uint16_t pos, uint8_t seq);
+aux_traj_speed_start (struct aux_t *aux);
void
-aux_traj_find_zero_start (struct aux_t *aux, int8_t speed, uint8_t seq);
+aux_traj_goto_start (struct aux_t *aux, uint16_t pos);
void
-aux_traj_find_zero_reverse_start (struct aux_t *aux, int8_t speed, uint8_t seq);
+aux_traj_find_zero_start (struct aux_t *aux, int8_t speed);
void
-aux_traj_find_limit_start (struct aux_t *aux, int8_t speed, uint8_t seq);
+aux_traj_find_zero_reverse_start (struct aux_t *aux, int8_t speed);
+
+void
+aux_traj_find_limit_start (struct aux_t *aux, int8_t speed);
void
aux_traj_update (void);