From 4895e54c666db9720abda0aa8ae901058679aee3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 18 Dec 2011 15:19:06 +0100 Subject: digital/asserv: convert to new control system --- digital/asserv/src/asserv/aux.h | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) (limited to 'digital/asserv/src/asserv/aux.h') 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); -- cgit v1.2.3