From a26bbeacef99cc9c8cacfa6b12b42e783bcf4398 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 2 May 2010 10:08:29 +0200 Subject: digital/io/src: change auxilliary motor interfaces --- digital/io/src/asserv.h | 23 +++++++++-------------- 1 file changed, 9 insertions(+), 14 deletions(-) (limited to 'digital/io/src/asserv.h') diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h index 9ea12e2b..14bd959d 100644 --- a/digital/io/src/asserv.h +++ b/digital/io/src/asserv.h @@ -200,16 +200,15 @@ void asserv_go_to_the_wall (uint8_t backward); /** - * Move the motor0 to a certain number of steps. + * Move the motor0. * Motor0 class command. - * This function take the number of steps you want to move to. This is not an - * absolute position, this is only the number of steps you want to add to the - * current position. - * @param offset number of steps to add to the current position. + * 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_motor0 (int16_t offset, uint8_t speed); +asserv_move_motor0_absolute (uint16_t position, uint8_t speed); /** * Move the motor1. @@ -286,16 +285,12 @@ asserv_goto (uint32_t x, uint32_t y, uint8_t backward); void asserv_set_scale (uint32_t scale); -/** - * Reset the motor0 to the zero position. - */ +/** Reset the motor0 to the zero position. */ void -asserv_motor0_zero_position (void); +asserv_motor0_zero_position (int8_t speed); -/** - * Reset the motor1 to the zero position. - */ +/** Reset the motor1 to the zero position. */ void -asserv_motor1_zero_position (void); +asserv_motor1_zero_position (int8_t speed); #endif /* asserv_h */ -- cgit v1.2.3