From d1970dba0d168fdf9b89f3f7446ea2300fac9d30 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Wed, 30 Apr 2008 01:37:18 +0200 Subject: * digital/io/src - integrate sharp to generate obstacle event for move FSM. --- digital/io/src/asserv.c | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'digital/io/src/asserv.c') diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c index 4b3a5795..2505da88 100644 --- a/digital/io/src/asserv.c +++ b/digital/io/src/asserv.c @@ -307,6 +307,20 @@ asserv_get_arm_position (void) return asserv_status.arm_position; } +/* Are we moving forward/backward? */ +uint8_t +asserv_get_moving_direction (void) +{ + /* Foward move? */ + if (asserv_status.status & _BV (4)) + return 1; + /* Backward move? */ + if (asserv_status.status & _BV (5)) + return 2; + /* Not moving */ + return 0; +} + /* Reset the asserv board. */ void asserv_reset (void) -- cgit v1.2.3