/* blocking_detection.c */ /* motor - Motor control module. {{{ * * Copyright (C) 2011 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 "blocking_detection.h" #include "modules/utils/utils.h" void blocking_detection_update (blocking_detection_t *bd, int16_t current_speed, int16_t output, pos_control_t *pos_control, uint8_t control_enabled) { if (control_enabled) { /* Test for blocking condition. */ int32_t error = pos_control->cons - pos_control->cur; if (UTILS_ABS (error) > bd->error_limit && UTILS_ABS (current_speed) < bd->speed_limit) bd->counter++; else bd->counter = 0; /* Set blocked state for detector clients. */ bd->blocked = bd->counter > bd->counter_limit; } else { bd->blocked = 0; bd->counter = 0; } }