From a87f059b7acdc9f00b2102249a647a51f8389de4 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 14 Apr 2008 12:00:59 +0200 Subject: * digital/io/src * asserv - improve the API of the arm functions to ease usage ; - add a new function to put the arm to the position to close the input hole. * get sample FSM - keep only the needed and real events ; - correctly names the states ; - improve the function to select where to put the samples ; * general - add headers for some standard configuration defines. * trap - add another entry to the enum to know its length. --- digital/io/src/asserv.h | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) (limited to 'digital/io/src/asserv.h') diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h index ab81118a..e6bc06c4 100644 --- a/digital/io/src/asserv.h +++ b/digital/io/src/asserv.h @@ -191,14 +191,25 @@ void asserv_go_to_distributor (void); /** - * Move the arm. - * A complete rotation correspond to 5000 steps. + * Move the arm to a certain number of steps. * Arm class command. - * @param position desired goal position (in step). + * This function take the number of steps you want to move to. This is not an + * absolute position, this is only the number of steps you want to add to the + * current position. + * @param offset number of steps to add to the current position. * @param speed speed of the movement. */ void -asserv_move_arm (uint16_t position, uint8_t speed); +asserv_move_arm (int16_t offset, uint8_t speed); + +/** + * Move the arm to close the input hole. + * It will compute the forward offset to close the input hole by moving the + * arm in front of it. + * @todo backward/forward selection support. + */ +void +asserv_close_input_hole (void); /** * Set current X position. -- cgit v1.2.3