From 1431438a2b0f3fafbafb61a4a15296164dadf5e1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 Apr 2009 16:22:53 +0200 Subject: * digital/asserv: - added second auxiliary motor support. --- digital/asserv/src/asserv/speed.c | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) (limited to 'digital/asserv/src/asserv/speed.c') diff --git a/digital/asserv/src/asserv/speed.c b/digital/asserv/src/asserv/speed.c index b9e6a714..5c221b7e 100644 --- a/digital/asserv/src/asserv/speed.c +++ b/digital/asserv/src/asserv/speed.c @@ -41,15 +41,17 @@ struct speed_t speed_theta, speed_alpha; /** Auxiliaries speed control states. */ -struct speed_t speed_aux0; +struct speed_t speed_aux[AC_ASSERV_AUX_NB]; /** Initialise speed control states. */ void speed_init (void) { + uint8_t i; speed_theta.pos = &pos_theta; speed_alpha.pos = &pos_alpha; - speed_aux0.pos = &pos_aux0; + for (i = 0; i < AC_ASSERV_AUX_NB; i++) + speed_aux[i].pos = &pos_aux[i]; } /** Update current speed according to a speed consign. */ @@ -147,7 +149,9 @@ speed_update_single (struct state_t *state, struct speed_t *speed) void speed_update (void) { + uint8_t i; speed_update_double (&state_main, &speed_theta, &speed_alpha); - speed_update_single (&state_aux0, &speed_aux0); + for (i = 0; i < AC_ASSERV_AUX_NB; i++) + speed_update_single (&state_aux[i], &speed_aux[i]); } -- cgit v1.2.3