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authorNicolas Schodet2008-04-17 19:36:50 +0200
committerNicolas Schodet2008-04-17 19:36:50 +0200
commit2a4a75a37a4a82d0a5e300b43b40d1ce8b0fb5c7 (patch)
tree5d7f787d1de5e32a5859c108b63559ed2329d7a7 /digital/asserv/src/asserv/eeprom.avr.c
parent0db1380594157e8b15c62b46bdd75ebd010dc9dc (diff)
* digital/asserv/src/asserv:
- added differential part saturation to increase proportionnal part.
Diffstat (limited to 'digital/asserv/src/asserv/eeprom.avr.c')
-rw-r--r--digital/asserv/src/asserv/eeprom.avr.c6
1 files changed, 4 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/eeprom.avr.c b/digital/asserv/src/asserv/eeprom.avr.c
index 4277ceac..aee320fb 100644
--- a/digital/asserv/src/asserv/eeprom.avr.c
+++ b/digital/asserv/src/asserv/eeprom.avr.c
@@ -94,7 +94,8 @@ eeprom_read_params (void)
pos_alpha.kd = eeprom_read_word (p16++);
pos_aux0.kd = eeprom_read_word (p16++);
pos_e_sat = eeprom_read_word (p16++);
- pos_int_sat = eeprom_read_word (p16++);
+ pos_i_sat = eeprom_read_word (p16++);
+ pos_d_sat = eeprom_read_word (p16++);
pos_blocked = eeprom_read_word (p16++);
traj_eps = eeprom_read_word (p16++);
}
@@ -129,7 +130,8 @@ eeprom_write_params (void)
eeprom_write_word (p16++, pos_alpha.kd);
eeprom_write_word (p16++, pos_aux0.kd);
eeprom_write_word (p16++, pos_e_sat);
- eeprom_write_word (p16++, pos_int_sat);
+ eeprom_write_word (p16++, pos_i_sat);
+ eeprom_write_word (p16++, pos_d_sat);
eeprom_write_word (p16++, pos_blocked);
eeprom_write_word (p16++, traj_eps);
}