From cab14d84256329f483c53f658a205415a5c029f4 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 3 May 2009 00:19:36 +0200 Subject: * digital/asserv: - changed blocking detection. --- digital/asserv/src/asserv/pos.h | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (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 4ced49b8..5c586026 100644 --- a/digital/asserv/src/asserv/pos.h +++ b/digital/asserv/src/asserv/pos.h @@ -38,8 +38,12 @@ struct pos_t int32_t i; /** Last error value. */ int32_t e_old; - /** Old current position. */ - uint32_t cur_old; + /** Blocking detection: error limit. */ + int32_t blocked_error_limit; + /** Blocking detection: speed limit. */ + int16_t blocked_speed_limit; + /** Blocking detection: counter limit. */ + uint8_t blocked_counter_limit; /** Count the number of blocked detection. */ uint8_t blocked_counter; }; -- cgit v1.2.3