From 339aef5ad2cbc67e7bd6e8b968fe9e373c4654e8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 3 May 2008 13:33:08 +0200 Subject: * digital/asserv/src/asserv: - added better blocking detection. --- digital/asserv/src/asserv/pos.h | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'digital/asserv/src/asserv/pos.h') 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); -- cgit v1.2.3