#ifndef pos_h #define pos_h /* pos.h */ /* 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. * * }}} */ extern uint32_t pos_theta_cur, pos_alpha_cur; extern uint32_t pos_theta_cons, pos_alpha_cons; extern int32_t pos_e_sat; extern int32_t pos_int_sat; extern uint16_t pos_theta_kp, pos_alpha_kp; extern uint16_t pos_theta_ki, pos_alpha_ki; extern uint16_t pos_theta_kd, pos_alpha_kd; extern int32_t pos_blocked; extern int32_t pos_theta_int, pos_alpha_int; extern int32_t pos_theta_e_old, pos_alpha_e_old; void pos_update (void); void pos_reset (void); #endif /* pos_h */