From 9f9d97cfd82644d2f98c60cdbcaadfd085931174 Mon Sep 17 00:00:00 2001 From: schodet Date: Fri, 18 May 2007 22:18:57 +0000 Subject: Fixed 'f'. Added slow spped to eeprom. --- n/asserv/src/asserv/eeprom.avr.c | 6 +++++- n/asserv/src/asserv/traj.c | 6 +++--- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/n/asserv/src/asserv/eeprom.avr.c b/n/asserv/src/asserv/eeprom.avr.c index dcd567c..26e5c4b 100644 --- a/n/asserv/src/asserv/eeprom.avr.c +++ b/n/asserv/src/asserv/eeprom.avr.c @@ -25,7 +25,7 @@ #include /* Change the eeprom key each time you change eeprom format. */ -#define EEPROM_KEY 0x44 +#define EEPROM_KEY 0x45 #define EEPROM_START 256 /* +AutoDec */ @@ -41,6 +41,8 @@ eeprom_read_params (void) return; speed_theta_max = eeprom_read_byte (p8++); speed_alpha_max = eeprom_read_byte (p8++); + speed_theta_slow = eeprom_read_byte (p8++); + speed_alpha_slow = eeprom_read_byte (p8++); pwm_dir = eeprom_read_byte (p8++); p16 = (uint16_t *) p8; postrack_set_footing (eeprom_read_word (p16++)); @@ -66,6 +68,8 @@ eeprom_write_params (void) eeprom_write_byte (p8++, EEPROM_KEY); eeprom_write_byte (p8++, speed_theta_max); eeprom_write_byte (p8++, speed_alpha_max); + eeprom_write_byte (p8++, speed_theta_slow); + eeprom_write_byte (p8++, speed_alpha_slow); eeprom_write_byte (p8++, pwm_dir); p16 = (uint16_t *) p8; eeprom_write_word (p16++, postrack_footing); diff --git a/n/asserv/src/asserv/traj.c b/n/asserv/src/asserv/traj.c index ce08aeb..0c9266f 100644 --- a/n/asserv/src/asserv/traj.c +++ b/n/asserv/src/asserv/traj.c @@ -147,7 +147,7 @@ traj_holes (void) void traj_ftw (void) { - uint16_t speed; + int16_t speed; speed = speed_theta_slow; speed *= 256; if (PINA & _BV (0) && PINA & _BV (7)) @@ -158,12 +158,12 @@ traj_ftw (void) else if (PINA & _BV (0)) { speed_theta_cons = -speed / 2; - speed_alpha_cons = -speed / 2; + speed_alpha_cons = speed / 2; } else if (PINA & _BV (7)) { speed_theta_cons = -speed / 2; - speed_alpha_cons = speed / 2; + speed_alpha_cons = -speed / 2; } else { -- cgit v1.2.3