/* aux.c - Auxiliary motors commands. */ /* asserv - Position & speed motor control on AVR. {{{ * * Copyright (C) 2008 Nicolas Schodet * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "common.h" #include "aux.h" #include "state.h" #include "counter.h" #include "pos.h" #include "speed.h" /** Motor state. */ struct aux_t aux0; /** Update positions. */ void aux_pos_update (void) { /* Easy... */ aux0.pos += counter_aux0_diff; } /** Goto position. */ void aux_traj_goto_start (uint16_t pos, uint8_t seq) { speed_aux0.use_pos = 1; speed_aux0.pos_cons = pos_aux0.cur; speed_aux0.pos_cons += (int16_t) (pos - aux0.pos); state_start (&state_aux0, MODE_SPEED, seq); }