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authorschodet2007-05-18 22:18:57 +0000
committerschodet2007-05-18 22:18:57 +0000
commit9f9d97cfd82644d2f98c60cdbcaadfd085931174 (patch)
tree4eb67e92a5742a3e8649840af71e155481c184e1 /n
parentb22bb601a027ad33097f8bd0f3d34bc579718a75 (diff)
Fixed 'f'.
Added slow spped to eeprom.
Diffstat (limited to 'n')
-rw-r--r--n/asserv/src/asserv/eeprom.avr.c6
-rw-r--r--n/asserv/src/asserv/traj.c6
2 files changed, 8 insertions, 4 deletions
diff --git a/n/asserv/src/asserv/eeprom.avr.c b/n/asserv/src/asserv/eeprom.avr.c
index dcd567c..26e5c4b 100644
--- a/n/asserv/src/asserv/eeprom.avr.c
+++ b/n/asserv/src/asserv/eeprom.avr.c
@@ -25,7 +25,7 @@
#include <avr/eeprom.h>
/* Change the eeprom key each time you change eeprom format. */
-#define EEPROM_KEY 0x44
+#define EEPROM_KEY 0x45
#define EEPROM_START 256
/* +AutoDec */
@@ -41,6 +41,8 @@ eeprom_read_params (void)
return;
speed_theta_max = eeprom_read_byte (p8++);
speed_alpha_max = eeprom_read_byte (p8++);
+ speed_theta_slow = eeprom_read_byte (p8++);
+ speed_alpha_slow = eeprom_read_byte (p8++);
pwm_dir = eeprom_read_byte (p8++);
p16 = (uint16_t *) p8;
postrack_set_footing (eeprom_read_word (p16++));
@@ -66,6 +68,8 @@ eeprom_write_params (void)
eeprom_write_byte (p8++, EEPROM_KEY);
eeprom_write_byte (p8++, speed_theta_max);
eeprom_write_byte (p8++, speed_alpha_max);
+ eeprom_write_byte (p8++, speed_theta_slow);
+ eeprom_write_byte (p8++, speed_alpha_slow);
eeprom_write_byte (p8++, pwm_dir);
p16 = (uint16_t *) p8;
eeprom_write_word (p16++, postrack_footing);
diff --git a/n/asserv/src/asserv/traj.c b/n/asserv/src/asserv/traj.c
index ce08aeb..0c9266f 100644
--- a/n/asserv/src/asserv/traj.c
+++ b/n/asserv/src/asserv/traj.c
@@ -147,7 +147,7 @@ traj_holes (void)
void
traj_ftw (void)
{
- uint16_t speed;
+ int16_t speed;
speed = speed_theta_slow;
speed *= 256;
if (PINA & _BV (0) && PINA & _BV (7))
@@ -158,12 +158,12 @@ traj_ftw (void)
else if (PINA & _BV (0))
{
speed_theta_cons = -speed / 2;
- speed_alpha_cons = -speed / 2;
+ speed_alpha_cons = speed / 2;
}
else if (PINA & _BV (7))
{
speed_theta_cons = -speed / 2;
- speed_alpha_cons = speed / 2;
+ speed_alpha_cons = -speed / 2;
}
else
{