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-rw-r--r--digital/mimot/src/dirty/aux.h6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/aux.h b/digital/mimot/src/dirty/aux.h
index b541f3eb..f31b789a 100644
--- a/digital/mimot/src/dirty/aux.h
+++ b/digital/mimot/src/dirty/aux.h
@@ -40,6 +40,8 @@ struct aux_t
uint8_t traj_mode;
/** Goto position position. */
uint32_t goto_pos;
+ /** Clamping PWM. */
+ int16_t clampin_pwm;
/** Wait counter. */
uint16_t wait;
/** Top zero port input register. */
@@ -62,6 +64,10 @@ void
aux_traj_goto_start (struct aux_t *aux, uint16_t pos, uint8_t seq);
void
+aux_traj_clamp_start (struct aux_t *aux, int8_t speed, int16_t clampin_pwm,
+ uint8_t seq);
+
+void
aux_traj_find_zero_start (struct aux_t *aux, int8_t speed, uint8_t seq);
void