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authorNicolas Schodet2008-04-20 21:29:29 +0200
committerNicolas Schodet2008-04-20 21:29:29 +0200
commitd47046315caff4ce01b3ea39126b476e56ab3703 (patch)
treea86e48bdbdf9806f71e7cb8a82102194bf7a4ac7 /digital/asserv/src/asserv/aux.c
parent44b4f0058b31b32bfa26746f0467cf353b373d3b (diff)
* digital/asserv/src/asserv:
- added absolute auxiliary motor position command.
Diffstat (limited to 'digital/asserv/src/asserv/aux.c')
-rw-r--r--digital/asserv/src/asserv/aux.c54
1 files changed, 54 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/aux.c b/digital/asserv/src/asserv/aux.c
new file mode 100644
index 00000000..880496b4
--- /dev/null
+++ b/digital/asserv/src/asserv/aux.c
@@ -0,0 +1,54 @@
+/* aux.c - Auxiliary motors commands. */
+/* 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.
+ *
+ * }}} */
+#include "common.h"
+#include "aux.h"
+
+#include "state.h"
+
+#include "counter.h"
+#include "pos.h"
+#include "speed.h"
+
+/** Motor state. */
+struct aux_t aux0;
+
+/** Update positions. */
+void
+aux_pos_update (void)
+{
+ /* Easy... */
+ aux0.pos += counter_aux0_diff;
+}
+
+/** Goto position. */
+void
+aux_traj_goto_start (uint16_t pos, uint8_t seq)
+{
+ speed_aux0.use_pos = 1;
+ speed_aux0.pos_cons = pos_aux0.cur;
+ speed_aux0.pos_cons += (int16_t) (pos - aux0.pos);
+ state_start (&state_aux0, MODE_SPEED, seq);
+}
+