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authorNicolas Schodet2011-12-18 15:19:06 +0100
committerNicolas Schodet2012-03-06 23:16:34 +0100
commit4895e54c666db9720abda0aa8ae901058679aee3 (patch)
tree609c444eb620b1fdf729ed16b784aba1b2b4781b /digital/asserv/src/asserv/pos.h
parent5948ad3b390c3c7a8deac3fea4aa6f6e93f395f7 (diff)
digital/asserv: convert to new control system
Diffstat (limited to 'digital/asserv/src/asserv/pos.h')
-rw-r--r--digital/asserv/src/asserv/pos.h62
1 files changed, 0 insertions, 62 deletions
diff --git a/digital/asserv/src/asserv/pos.h b/digital/asserv/src/asserv/pos.h
deleted file mode 100644
index 2cca2111..00000000
--- a/digital/asserv/src/asserv/pos.h
+++ /dev/null
@@ -1,62 +0,0 @@
-#ifndef pos_h
-#define pos_h
-/* pos.h */
-/* 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.
- *
- * }}} */
-
-/** Position control state. */
-struct pos_t
-{
- /** Current position. */
- uint32_t cur;
- /** Consign position. */
- uint32_t cons;
- /** PID coefficients (f8.8, maximum depends on saturation values). */
- uint16_t kp, ki, kd;
- /** Current integral value. */
- int32_t i;
- /** Last error value. */
- int32_t e_old;
- /** Blocking detection: error limit. */
- int32_t blocked_error_limit;
- /** Blocking detection: speed limit. */
- int16_t blocked_speed_limit;
- /** Blocking detection: counter limit. */
- uint8_t blocked_counter_limit;
- /** Count the number of blocked detection. */
- uint8_t blocked_counter;
-};
-
-extern struct pos_t pos_theta, pos_alpha;
-extern struct pos_t pos_aux[AC_ASSERV_AUX_NB];
-
-extern int32_t pos_e_sat, pos_i_sat, pos_d_sat;
-
-void
-pos_update (void);
-
-void
-pos_reset (struct pos_t *pos);
-
-#endif /* pos_h */