From a60c072e17cd502a06d9cea5de928b899d5cac16 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 9 Mar 2008 17:40:28 +0100 Subject: * digital/asserv/src/asserv: - cleaned up, separated compilation. - prepared auxialliary motor control. --- digital/asserv/src/asserv/traj.c | 19 ++++++++++++++++--- 1 file changed, 16 insertions(+), 3 deletions(-) (limited to 'digital/asserv/src/asserv/traj.c') diff --git a/digital/asserv/src/asserv/traj.c b/digital/asserv/src/asserv/traj.c index 926dcc5c..440c7be4 100644 --- a/digital/asserv/src/asserv/traj.c +++ b/digital/asserv/src/asserv/traj.c @@ -22,6 +22,19 @@ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ +#include "common.h" +#include "traj.h" + +#include "io.h" + +#include "speed.h" +#include "state.h" + +#ifdef HOST +# include "simu.host.h" +#endif + +/* This file provides high level trajectories commands. */ /** Traj mode: * 10, 11: go to the wall. @@ -29,7 +42,7 @@ uint8_t traj_mode; /** Go to the wall mode. */ -void +static void traj_ftw (void) { int16_t speed; @@ -56,13 +69,13 @@ traj_ftw (void) speed_alpha_cons = 0; speed_theta_cur = 0; speed_alpha_cur = 0; - main_sequence_finish = main_sequence; + state_finish (&state_main); traj_mode = 11; } } /* Compute new speed according the defined trajectory. */ -static void +void traj_update (void) { switch (traj_mode) -- cgit v1.2.3