#ifndef speed_h #define speed_h /* speed.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. * * }}} */ /** Speed control state. */ struct speed_t { /** Controlled position. */ struct pos_t *pos; /** Current speed, f8.8. */ int16_t cur; /** Consign speed, f8.8. */ int16_t cons; /** Maximum speed for position consign, u8. */ int8_t max; /** Slow speed for position consign, u8. */ int8_t slow; /** Acceleration, f8.8. */ int16_t acc; /** Consign position. */ uint32_t pos_cons; /** Whether to use the consign position (1) or not (0). */ uint8_t use_pos; }; extern struct speed_t speed_aux[AC_ASSERV_AUX_NB]; void speed_init (void); void speed_update (void); #endif /* speed_h */