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authorNicolas Schodet2011-10-08 11:56:10 +0200
committerNicolas Schodet2012-03-06 23:16:05 +0100
commit928dc853e088849580aac368401999ea596644bb (patch)
tree7970d54f08a9e802f54c7dbbde4f91987ea5982e /digital/avr/modules/motor/speed_control/speed_control.h
parent7a1417eb3cecd3b5f5b8a5c1a73e5a89d19de2d4 (diff)
digital/avr/modules/motor: add motor control system
Diffstat (limited to 'digital/avr/modules/motor/speed_control/speed_control.h')
-rw-r--r--digital/avr/modules/motor/speed_control/speed_control.h91
1 files changed, 91 insertions, 0 deletions
diff --git a/digital/avr/modules/motor/speed_control/speed_control.h b/digital/avr/modules/motor/speed_control/speed_control.h
new file mode 100644
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+++ b/digital/avr/modules/motor/speed_control/speed_control.h
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+#ifndef speed_control_h
+#define speed_control_h
+/* speed_control.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"
+
+/** Speed control state. */
+struct speed_control_t
+{
+ /** Current speed, f8.8. */
+ int16_t cur;
+ /** Whether to use the consign position (1) or not (0). */
+ uint8_t use_pos;
+ /** Consign speed, f8.8. */
+ int16_t cons;
+ /** Consign position. */
+ uint32_t pos_cons;
+ /** Maximum speed for position consign, u7. */
+ int8_t max;
+ /** Slow speed, deprecated, u7. */
+ int8_t slow;
+ /** Acceleration, f8.8. */
+ int16_t acc;
+ /** Associated position control, to simplify function prototypes. */
+ pos_control_t *pos_control;
+};
+typedef struct speed_control_t speed_control_t;
+
+/** Initialise speed control. */
+void
+speed_control_init (speed_control_t *speed_control,
+ pos_control_t *pos_control);
+
+/** Control speed and update position control. */
+void
+speed_control_update (speed_control_t *speed_control,
+ uint8_t enabled);
+
+/** Set speed consign. Accelerate to the given speed. */
+void
+speed_control_set_speed (speed_control_t *speed_control, int8_t speed);
+
+/** Set position consign offset. Move to a position measured from the current
+ * controlled position (which may be different from the actual position),
+ * control speed to match requested acceleration. */
+void
+speed_control_pos_offset (speed_control_t *speed_control, int32_t offset);
+
+/** Set position consign offset from the current actual position. Move to a
+ * position measured from the actual position, control speed to match
+ * requested acceleration.
+ *
+ * Warning: This is usually not what you want. Only use this if offset has
+ * been computed from encoder. */
+void
+speed_control_pos_offset_from_here (speed_control_t *speed_control,
+ int32_t offset);
+
+/** Set absolute position consign. Useful to restore an previous position. */
+void
+speed_control_pos (speed_control_t *speed_control, int32_t pos_cons);
+
+/** Stop right now, no acceleration! You really should avoid this function
+ * unless the motor is actually almost stopped. */
+void
+speed_control_hard_stop (speed_control_t *speed_control);
+
+#endif /* speed_control_h */