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Diffstat (limited to 'AT91SAM7S256/Source/d_output.h')
-rw-r--r--AT91SAM7S256/Source/d_output.h7
1 files changed, 3 insertions, 4 deletions
diff --git a/AT91SAM7S256/Source/d_output.h b/AT91SAM7S256/Source/d_output.h
index 20955a6..86cbaf6 100644
--- a/AT91SAM7S256/Source/d_output.h
+++ b/AT91SAM7S256/Source/d_output.h
@@ -42,8 +42,7 @@
#define DEFAULT_MAX_SPEED 80
#define DEFAULT_MAX_ACCELERATION 20
-#define REGULATION_TIME 100 // Measured in 1 mS => 100 mS regulation interval
-//#define REGULATION_TIME 10 // Measured in 1 mS, regulation interval
+#define REGULATION_TIME 100 // Measured in 1 mS, regulation interval
//Constant reffering to RegMode parameter
#define REGSTATE_IDLE 0x00
@@ -61,6 +60,7 @@
// Constants related to Regulation Options
#define REGOPTION_NO_SATURATION 0x01 // Do not limit intermediary regulation results
+
enum
{
MOTOR_A,
@@ -81,7 +81,7 @@ void dOutputSetTachoLimit(UBYTE MotorNr, ULONG TachoCntToTravel, UBYTE Opti
void dOutputResetTachoLimit(UBYTE MotorNr);
void dOutputResetBlockTachoLimit(UBYTE MotorNr);
void dOutputResetRotationCaptureCount(UBYTE MotorNr);
-void dOutputSetPIDParameters(UBYTE MotorNr, UBYTE NewRegPParameter, UBYTE NewRegIParameter, UBYTE NewRegDParameter);
+void dOutputSetPIDParameters(UBYTE MotorNr, UBYTE NewRegPParameter, UBYTE NewRegIParameter, UBYTE NewRegDParameter);
void dOutputSetMax(UBYTE MotorNr, SBYTE NewMaxSpeed, SBYTE NewMaxAcceleration);
void dOutputSetRegulationTime(UBYTE NewRegulationTime);
void dOutputSetRegulationOptions(UBYTE NewRegulationOptions);
@@ -99,6 +99,5 @@ void dOutputMotorIdleControl(UBYTE MotorNr);
void dOutputSyncTachoLimitControl(UBYTE MotorNr);
void dOutputMotorSyncStatus(UBYTE MotorNr, UBYTE *SyncMotorOne, UBYTE *SyncMotorTwo);
void dOutputResetSyncMotors(UBYTE MotorNr);
-void dOutputUpdateRegulationTime(UBYTE rt);
#endif