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Diffstat (limited to 'AT91SAM7S256/Source/d_output.c')
-rw-r--r--AT91SAM7S256/Source/d_output.c8
1 files changed, 8 insertions, 0 deletions
diff --git a/AT91SAM7S256/Source/d_output.c b/AT91SAM7S256/Source/d_output.c
index 60b9151..408d26c 100644
--- a/AT91SAM7S256/Source/d_output.c
+++ b/AT91SAM7S256/Source/d_output.c
@@ -291,6 +291,14 @@ void dOutputSetPIDParameters(UBYTE MotorNr, UBYTE NewRegPParameter, UBYTE NewReg
pMD->RegDParameter = NewRegDParameter;
}
+/* Set maximum speed and acceleration */
+void dOutputSetMax(UBYTE MotorNr, SBYTE NewMaxSpeed, SBYTE NewMaxAcceleration)
+{
+ MOTORDATA * pMD = &(MotorData[MotorNr]);
+ pMD->MotorMaxSpeed = NewMaxSpeed;
+ pMD->MotorMaxAcceleration = NewMaxAcceleration;
+}
+
/* Set new regulation time */
void dOutputSetRegulationTime(UBYTE NewRegulationTime)
{