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authorNicolas Schodet2008-03-14 00:26:08 +0100
committerNicolas Schodet2008-03-14 00:26:08 +0100
commitd11d86aac76679041f836125215016ccd4c10f15 (patch)
treeb0d264df533a5210859d45872bccf28ec369ecf5 /digital/asserv/src/asserv/eeprom.avr.c
parenta0c34f97eec1773195e2b9cf400696d2f91c9ebf (diff)
* digital/asserv/src/asserv:
- moved position control parameters to a structure.
Diffstat (limited to 'digital/asserv/src/asserv/eeprom.avr.c')
-rw-r--r--digital/asserv/src/asserv/eeprom.avr.c24
1 files changed, 12 insertions, 12 deletions
diff --git a/digital/asserv/src/asserv/eeprom.avr.c b/digital/asserv/src/asserv/eeprom.avr.c
index 6b54a02b..f435925e 100644
--- a/digital/asserv/src/asserv/eeprom.avr.c
+++ b/digital/asserv/src/asserv/eeprom.avr.c
@@ -51,12 +51,12 @@ eeprom_read_params (void)
postrack_set_footing (eeprom_read_word (p16++));
speed_theta_acc = eeprom_read_word (p16++);
speed_alpha_acc = eeprom_read_word (p16++);
- pos_theta_kp = eeprom_read_word (p16++);
- pos_alpha_kp = eeprom_read_word (p16++);
- pos_theta_ki = eeprom_read_word (p16++);
- pos_alpha_ki = eeprom_read_word (p16++);
- pos_theta_kd = eeprom_read_word (p16++);
- pos_alpha_kd = eeprom_read_word (p16++);
+ pos_theta.kp = eeprom_read_word (p16++);
+ pos_alpha.kp = eeprom_read_word (p16++);
+ pos_theta.ki = eeprom_read_word (p16++);
+ pos_alpha.ki = eeprom_read_word (p16++);
+ pos_theta.kd = eeprom_read_word (p16++);
+ pos_alpha.kd = eeprom_read_word (p16++);
pos_e_sat = eeprom_read_word (p16++);
pos_int_sat = eeprom_read_word (p16++);
pos_blocked = eeprom_read_word (p16++);
@@ -78,12 +78,12 @@ eeprom_write_params (void)
eeprom_write_word (p16++, postrack_footing);
eeprom_write_word (p16++, speed_theta_acc);
eeprom_write_word (p16++, speed_alpha_acc);
- eeprom_write_word (p16++, pos_theta_kp);
- eeprom_write_word (p16++, pos_alpha_kp);
- eeprom_write_word (p16++, pos_theta_ki);
- eeprom_write_word (p16++, pos_alpha_ki);
- eeprom_write_word (p16++, pos_theta_kd);
- eeprom_write_word (p16++, pos_alpha_kd);
+ eeprom_write_word (p16++, pos_theta.kp);
+ eeprom_write_word (p16++, pos_alpha.kp);
+ eeprom_write_word (p16++, pos_theta.ki);
+ eeprom_write_word (p16++, pos_alpha.ki);
+ eeprom_write_word (p16++, pos_theta.kd);
+ eeprom_write_word (p16++, pos_alpha.kd);
eeprom_write_word (p16++, pos_e_sat);
eeprom_write_word (p16++, pos_int_sat);
eeprom_write_word (p16++, pos_blocked);