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authorNicolas Schodet2008-04-17 19:36:50 +0200
committerNicolas Schodet2008-04-17 19:36:50 +0200
commit2a4a75a37a4a82d0a5e300b43b40d1ce8b0fb5c7 (patch)
tree5d7f787d1de5e32a5859c108b63559ed2329d7a7 /digital/asserv/src/asserv/main.c
parent0db1380594157e8b15c62b46bdd75ebd010dc9dc (diff)
* digital/asserv/src/asserv:
- added differential part saturation to increase proportionnal part.
Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c8
1 files changed, 6 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 5913c107..99c0e369 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -507,7 +507,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
pos_e_sat = v8_to_v16 (args[1], args[2]);
break;
case c ('I', 3):
- pos_int_sat = v8_to_v16 (args[1], args[2]);
+ pos_i_sat = v8_to_v16 (args[1], args[2]);
+ break;
+ case c ('D', 3):
+ pos_d_sat = v8_to_v16 (args[1], args[2]);
break;
case c ('b', 3):
pos_blocked = v8_to_v16 (args[1], args[2]);
@@ -545,7 +548,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
proto_send1w ('i', pos_aux0.ki);
proto_send1w ('d', pos_aux0.kd);
proto_send1w ('E', pos_e_sat);
- proto_send1w ('I', pos_int_sat);
+ proto_send1w ('I', pos_i_sat);
+ proto_send1w ('D', pos_d_sat);
proto_send1w ('b', pos_blocked);
proto_send1w ('e', traj_eps);
proto_send1b ('w', pwm_reverse);