summaryrefslogtreecommitdiffhomepage
path: root/digital/asserv/src/asserv/pos.h
diff options
context:
space:
mode:
Diffstat (limited to 'digital/asserv/src/asserv/pos.h')
-rw-r--r--digital/asserv/src/asserv/pos.h7
1 files changed, 6 insertions, 1 deletions
diff --git a/digital/asserv/src/asserv/pos.h b/digital/asserv/src/asserv/pos.h
index 4f29965c..cf02cda3 100644
--- a/digital/asserv/src/asserv/pos.h
+++ b/digital/asserv/src/asserv/pos.h
@@ -38,13 +38,18 @@ struct pos_t
int32_t i;
/** Last error value. */
int32_t e_old;
+ /** Old current position. */
+ uint32_t cur_old;
+ /** Count the number of blocked detection. */
+ uint8_t blocked_counter;
};
extern struct pos_t pos_theta, pos_alpha;
extern struct pos_t pos_aux0;
extern int32_t pos_e_sat, pos_i_sat, pos_d_sat;
-extern int32_t pos_blocked;
+extern int32_t pos_blocked_error_limit, pos_blocked_speed_limit,
+ pos_blocked_counter_limit;
void
pos_update (void);