From 0cb650f1cf6f446bbb0186300a198b5936f49bb4 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 29 Jan 2011 21:59:45 +0100 Subject: provide access to the maximum speed and acceleration from user code and iomap --- AT91SAM7S256/Source/d_output.c | 8 ++++++++ 1 file changed, 8 insertions(+) (limited to 'AT91SAM7S256/Source/d_output.c') diff --git a/AT91SAM7S256/Source/d_output.c b/AT91SAM7S256/Source/d_output.c index f012ac2..326f6f8 100644 --- a/AT91SAM7S256/Source/d_output.c +++ b/AT91SAM7S256/Source/d_output.c @@ -293,6 +293,14 @@ 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) { -- cgit v1.2.3