From 203525d84bafff3b1f9fcfff4b0f51bb45c7fa0e Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 14 Apr 2008 12:04:45 +0200 Subject: * digital/io/src - add notifier for the desired arm position ; - integrate it in the get samples FSM. --- digital/io/src/asserv.h | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) (limited to 'digital/io/src/asserv.h') diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h index 46448a59..1a5011fc 100644 --- a/digital/io/src/asserv.h +++ b/digital/io/src/asserv.h @@ -264,4 +264,24 @@ asserv_set_speed (uint8_t linear_high, uint8_t angular_high, void asserv_goto (uint32_t x, uint32_t y); +/** + * Set the notifier of get samples FSM when the arm reach desired position. + * You should called this function from the get sample FSM to tell the asserv + * module you want to be notified when the arm reached the desired position. + * @param position the desired position of the arm (absolute). Note, 0 is a + * reset value do disable the notifier. If you want to use it, please add 1. + */ +void +asserv_arm_set_position_reached (uint16_t position); + +/** + * Check if notification of the get sample FSM is required in term of + * position of the arm. + * @return + * - 0 if the notification is not needed ; + * - 1 if the notification of the get sample FSM is required. + */ +uint8_t +asserv_arm_position_reached (void); + #endif /* asserv_h */ -- cgit v1.2.3