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authorNicolas Schodet2010-05-04 02:25:01 +0200
committerNicolas Schodet2010-05-04 02:25:01 +0200
commit7566b7f7da95df90235d3b35617b2bc0aeab980f (patch)
tree69d927049303de687fd44bb3335dfb1606006163 /digital/mimot/src/dirty/aux.h
parent50b8abe7f025cd2a4a498c24da37826a6e2b585a (diff)
digital/mimot/src/dirty: find zero by pushing on hardware limits
See r1070.
Diffstat (limited to 'digital/mimot/src/dirty/aux.h')
-rw-r--r--digital/mimot/src/dirty/aux.h5
1 files changed, 5 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/aux.h b/digital/mimot/src/dirty/aux.h
index 65456ec9..b541f3eb 100644
--- a/digital/mimot/src/dirty/aux.h
+++ b/digital/mimot/src/dirty/aux.h
@@ -32,6 +32,8 @@ struct aux_t
struct state_t *state;
/** Controlled speed. */
struct speed_t *speed;
+ /** Associated PWM. */
+ struct pwm_t *pwm;
/** Absolute position. */
int16_t pos;
/** Trajectory mode. */
@@ -63,6 +65,9 @@ void
aux_traj_find_zero_start (struct aux_t *aux, int8_t speed, uint8_t seq);
void
+aux_traj_find_limit_start (struct aux_t *aux, int8_t speed, uint8_t seq);
+
+void
aux_traj_update (void);
#endif /* aux_h */