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authorNicolas Schodet2009-05-03 00:19:36 +0200
committerNicolas Schodet2009-05-03 00:19:36 +0200
commitcab14d84256329f483c53f658a205415a5c029f4 (patch)
tree44a20ec1f8300692bb16bb1eaa8d67f61c979acc /digital/asserv/src/asserv/pos.h
parentbaa80c85ef51e79e23f243ea13e5606ade131c53 (diff)
* digital/asserv:
- changed blocking detection.
Diffstat (limited to 'digital/asserv/src/asserv/pos.h')
-rw-r--r--digital/asserv/src/asserv/pos.h8
1 files changed, 6 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/pos.h b/digital/asserv/src/asserv/pos.h
index 4ced49b8..5c586026 100644
--- a/digital/asserv/src/asserv/pos.h
+++ b/digital/asserv/src/asserv/pos.h
@@ -38,8 +38,12 @@ struct pos_t
int32_t i;
/** Last error value. */
int32_t e_old;
- /** Old current position. */
- uint32_t cur_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;
};