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authorJérémy Dufour2008-04-14 12:00:59 +0200
committerJérémy Dufour2008-04-14 12:00:59 +0200
commita87f059b7acdc9f00b2102249a647a51f8389de4 (patch)
treed542d1e6b560a69ffd7319375756e8d2fbb71fb1 /digital/io/src/asserv.h
parent197fb2f8192e083df38427a1dfa4b67ddebde525 (diff)
* digital/io/src
* asserv - improve the API of the arm functions to ease usage ; - add a new function to put the arm to the position to close the input hole. * get sample FSM - keep only the needed and real events ; - correctly names the states ; - improve the function to select where to put the samples ; * general - add headers for some standard configuration defines. * trap - add another entry to the enum to know its length.
Diffstat (limited to 'digital/io/src/asserv.h')
-rw-r--r--digital/io/src/asserv.h19
1 files changed, 15 insertions, 4 deletions
diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h
index ab81118a..e6bc06c4 100644
--- a/digital/io/src/asserv.h
+++ b/digital/io/src/asserv.h
@@ -191,14 +191,25 @@ void
asserv_go_to_distributor (void);
/**
- * Move the arm.
- * A complete rotation correspond to 5000 steps.
+ * Move the arm to a certain number of steps.
* Arm class command.
- * @param position desired goal position (in step).
+ * This function take the number of steps you want to move to. This is not an
+ * absolute position, this is only the number of steps you want to add to the
+ * current position.
+ * @param offset number of steps to add to the current position.
* @param speed speed of the movement.
*/
void
-asserv_move_arm (uint16_t position, uint8_t speed);
+asserv_move_arm (int16_t offset, uint8_t speed);
+
+/**
+ * Move the arm to close the input hole.
+ * It will compute the forward offset to close the input hole by moving the
+ * arm in front of it.
+ * @todo backward/forward selection support.
+ */
+void
+asserv_close_input_hole (void);
/**
* Set current X position.