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authorNicolas Schodet2009-03-30 00:20:05 +0200
committerNicolas Schodet2009-03-30 00:20:05 +0200
commit2e0727532fdc1e9eb5b72188182c7a8a7c4ab3fc (patch)
treedd1b004f7cf5f06e18c70785439a4533e59a0fa1 /digital/asserv/src/asserv/pos.c
parentca537782ccf301aa5dafe91bbba2722d039226db (diff)
* digital/asserv/src/asserv:
- use a structure for PWM state.
Diffstat (limited to 'digital/asserv/src/asserv/pos.c')
-rw-r--r--digital/asserv/src/asserv/pos.c12
1 files changed, 6 insertions, 6 deletions
diff --git a/digital/asserv/src/asserv/pos.c b/digital/asserv/src/asserv/pos.c
index af3d0315..e84a0905 100644
--- a/digital/asserv/src/asserv/pos.c
+++ b/digital/asserv/src/asserv/pos.c
@@ -133,16 +133,16 @@ pos_update (void)
pos_reset (&pos_theta);
pos_reset (&pos_alpha);
state_blocked (&state_main);
- pwm_left = 0;
- pwm_right = 0;
+ pwm_set (&pwm_left, 0);
+ pwm_set (&pwm_right, 0);
}
else
{
pid_theta = pos_compute_pid (diff_theta, &pos_theta);
pid_alpha = pos_compute_pid (diff_alpha, &pos_alpha);
/* Update PWM. */
- PWM_SET (pwm_left, pid_theta - pid_alpha);
- PWM_SET (pwm_right, pid_theta + pid_alpha);
+ pwm_set (&pwm_left, pid_theta - pid_alpha);
+ pwm_set (&pwm_right, pid_theta + pid_alpha);
}
}
if (state_aux0.mode >= MODE_POS)
@@ -158,13 +158,13 @@ pos_update (void)
/* Blocked. */
pos_reset (&pos_aux0);
state_blocked (&state_aux0);
- pwm_aux0 = 0;
+ pwm_set (&pwm_aux0, 0);
}
else
{
pid = pos_compute_pid (diff, &pos_aux0);
/* Update PWM. */
- PWM_SET (pwm_aux0, pid);
+ pwm_set (&pwm_aux0, pid);
}
}
}