#ifndef blocking_detection_h #define blocking_detection_h /* blocking_detection.h */ /* 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 "modules/motor/pos_control/pos_control.h" /** Blocking detection state. */ struct blocking_detection_t { /** True if blocking is detected. */ uint8_t blocked; /** Count the number of blocked detection. */ uint8_t counter; /** Error limit. */ int32_t error_limit; /** Speed limit. */ int16_t speed_limit; /** Counter limit. */ uint8_t counter_limit; }; typedef struct blocking_detection_t blocking_detection_t; /** Detect blocking, update blocking state. */ void blocking_detection_update (blocking_detection_t *blocking_detection, int16_t current_speed, int16_t output, pos_control_t *pos_control, uint8_t control_enabled); #endif /* blocking_detection_h */