summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/asserv.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io/src/asserv.c')
-rw-r--r--digital/io/src/asserv.c14
1 files changed, 14 insertions, 0 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index 4b3a5795..2505da88 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -307,6 +307,20 @@ asserv_get_arm_position (void)
return asserv_status.arm_position;
}
+/* Are we moving forward/backward? */
+uint8_t
+asserv_get_moving_direction (void)
+{
+ /* Foward move? */
+ if (asserv_status.status & _BV (4))
+ return 1;
+ /* Backward move? */
+ if (asserv_status.status & _BV (5))
+ return 2;
+ /* Not moving */
+ return 0;
+}
+
/* Reset the asserv board. */
void
asserv_reset (void)