From 6abdc9299138fe3b1e4f84605492a9c634b3d088 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 3 May 2009 12:49:07 +0200 Subject: * digital/io, digital/asserv: - added TWI commands for the elevator. --- digital/io/src/asserv.h | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) (limited to 'digital/io/src/asserv.h') diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h index c1fdae74..07950244 100644 --- a/digital/io/src/asserv.h +++ b/digital/io/src/asserv.h @@ -112,6 +112,15 @@ asserv_move_cmd_status (void); asserv_status_e asserv_arm_cmd_status (void); +/** + * Is last elevator class command has successfully ended? + * This function is used to know the status of the last elevator command. It + * looks at the status register. + * @return the status of the last move class command. + */ +asserv_status_e +asserv_elevator_cmd_status (void); + /** * Structure for storing a position for the bot. */ @@ -139,6 +148,13 @@ asserv_get_position (asserv_position_t *current_position); uint16_t asserv_get_arm_position (void); +/** + * Get the elevator position. + * @return the position of the elevator (in steps). + */ +uint16_t +asserv_get_elevator_position (void); + /** * Are we moving forward/backward? * @return @@ -229,6 +245,17 @@ asserv_go_to_distributor (void); void asserv_move_arm (int16_t offset, uint8_t speed); +/** + * Move the elevator. + * Elevator class command. + * This function take the number of steps you want to move to. This is an + * absolute position. + * @param position desired goal position (in step). + * @param speed speed of the movement. + */ +void +asserv_move_elevator_absolute (uint16_t position, uint8_t speed); + /** * Set current X position. * Other class command. -- cgit v1.2.3