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authorJérémy Dufour2008-04-30 01:37:18 +0200
committerJérémy Dufour2008-04-30 01:37:18 +0200
commitd1970dba0d168fdf9b89f3f7446ea2300fac9d30 (patch)
tree39b64caa69fb334a0b82fbfe2f3b165ad9a9e7b8 /digital/io/src/asserv.c
parent2005d00e2962ab2f4a036b1692ba96e283843a6b (diff)
* digital/io/src
- integrate sharp to generate obstacle event for move FSM.
Diffstat (limited to 'digital/io/src/asserv.c')
-rw-r--r--digital/io/src/asserv.c14
1 files changed, 14 insertions, 0 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index 4b3a5795..2505da88 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -307,6 +307,20 @@ asserv_get_arm_position (void)
return asserv_status.arm_position;
}
+/* Are we moving forward/backward? */
+uint8_t
+asserv_get_moving_direction (void)
+{
+ /* Foward move? */
+ if (asserv_status.status & _BV (4))
+ return 1;
+ /* Backward move? */
+ if (asserv_status.status & _BV (5))
+ return 2;
+ /* Not moving */
+ return 0;
+}
+
/* Reset the asserv board. */
void
asserv_reset (void)