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authorNicolas Schodet2010-05-02 10:08:29 +0200
committerNicolas Schodet2010-05-02 10:08:29 +0200
commita26bbeacef99cc9c8cacfa6b12b42e783bcf4398 (patch)
tree4b9ab8acccd123b6d90c83c73dfcfab0def1f6f7 /digital/io/src/asserv.h
parenta86c71e0f36ab75489de3f6aa29fdcf31fa45710 (diff)
digital/io/src: change auxilliary motor interfaces
Diffstat (limited to 'digital/io/src/asserv.h')
-rw-r--r--digital/io/src/asserv.h23
1 files changed, 9 insertions, 14 deletions
diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h
index 9ea12e2b..14bd959d 100644
--- a/digital/io/src/asserv.h
+++ b/digital/io/src/asserv.h
@@ -200,16 +200,15 @@ void
asserv_go_to_the_wall (uint8_t backward);
/**
- * Move the motor0 to a certain number of steps.
+ * Move the motor0.
* Motor0 class command.
- * This function take the number of steps you want to move to. This is not an
- * absolute position, this is only the number of steps you want to add to the
- * current position.
- * @param offset number of steps to add to the current position.
+ * This function take the number of steps you want to move to. This is an
+ * absolute position.
+ * @param position desired goal position (in step).
* @param speed speed of the movement.
*/
void
-asserv_move_motor0 (int16_t offset, uint8_t speed);
+asserv_move_motor0_absolute (uint16_t position, uint8_t speed);
/**
* Move the motor1.
@@ -286,16 +285,12 @@ asserv_goto (uint32_t x, uint32_t y, uint8_t backward);
void
asserv_set_scale (uint32_t scale);
-/**
- * Reset the motor0 to the zero position.
- */
+/** Reset the motor0 to the zero position. */
void
-asserv_motor0_zero_position (void);
+asserv_motor0_zero_position (int8_t speed);
-/**
- * Reset the motor1 to the zero position.
- */
+/** Reset the motor1 to the zero position. */
void
-asserv_motor1_zero_position (void);
+asserv_motor1_zero_position (int8_t speed);
#endif /* asserv_h */