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+#ifndef speed_h
+#define speed_h
+/* speed.h */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2008 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/** Speed control state. */
+struct speed_t
+{
+ /** Controlled position. */
+ struct pos_t *pos;
+ /** Current speed, f8.8. */
+ int16_t cur;
+ /** Consign speed, f8.8. */
+ int16_t cons;
+ /** Maximum speed for position consign, u8. */
+ int8_t max;
+ /** Slow speed for position consign, u8. */
+ int8_t slow;
+ /** Acceleration, f8.8. */
+ int16_t acc;
+ /** Consign position. */
+ uint32_t pos_cons;
+ /** Whether to use the consign position (1) or not (0). */
+ uint8_t use_pos;
+};
+
+extern struct speed_t speed_aux[AC_ASSERV_AUX_NB];
+
+void
+speed_init (void);
+
+void
+speed_update (void);
+
+#endif /* speed_h */