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-rw-r--r--digital/mimot/src/dirty/traj.h61
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diff --git a/digital/mimot/src/dirty/traj.h b/digital/mimot/src/dirty/traj.h
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+#ifndef traj_h
+#define traj_h
+/* traj.h */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2008 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#define TRAJ_BACKWARD 1
+#define TRAJ_REVERT_OK 2
+
+extern uint8_t traj_mode;
+extern int16_t traj_eps;
+extern int16_t traj_aeps;
+extern uint16_t traj_angle_limit;
+
+void
+traj_init (void);
+
+void
+traj_update (void);
+
+void
+traj_angle_offset_start (int32_t angle, uint8_t seq);
+
+void
+traj_ftw_start (uint8_t backward, uint8_t seq);
+
+void
+traj_goto_start (uint32_t x, uint32_t y, uint8_t backward, uint8_t seq);
+
+void
+traj_goto_angle_start (uint32_t a, uint8_t seq);
+
+void
+traj_goto_xya_start (uint32_t x, uint32_t y, uint32_t a, uint8_t backward,
+ uint8_t seq);
+
+void
+traj_set_angle_limit (uint16_t a);
+
+#endif /* traj_h */