From d47046315caff4ce01b3ea39126b476e56ab3703 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 20 Apr 2008 21:29:29 +0200 Subject: * digital/asserv/src/asserv: - added absolute auxiliary motor position command. --- digital/asserv/src/asserv/aux.c | 54 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 54 insertions(+) create mode 100644 digital/asserv/src/asserv/aux.c (limited to 'digital/asserv/src/asserv/aux.c') diff --git a/digital/asserv/src/asserv/aux.c b/digital/asserv/src/asserv/aux.c new file mode 100644 index 00000000..880496b4 --- /dev/null +++ b/digital/asserv/src/asserv/aux.c @@ -0,0 +1,54 @@ +/* aux.c - Auxiliary motors commands. */ +/* 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. + * + * }}} */ +#include "common.h" +#include "aux.h" + +#include "state.h" + +#include "counter.h" +#include "pos.h" +#include "speed.h" + +/** Motor state. */ +struct aux_t aux0; + +/** Update positions. */ +void +aux_pos_update (void) +{ + /* Easy... */ + aux0.pos += counter_aux0_diff; +} + +/** Goto position. */ +void +aux_traj_goto_start (uint16_t pos, uint8_t seq) +{ + speed_aux0.use_pos = 1; + speed_aux0.pos_cons = pos_aux0.cur; + speed_aux0.pos_cons += (int16_t) (pos - aux0.pos); + state_start (&state_aux0, MODE_SPEED, seq); +} + -- cgit v1.2.3