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authorNicolas Schodet2011-05-31 09:39:16 +0200
committerNicolas Schodet2011-05-31 15:17:36 +0200
commit31f85163b5981a78a2b6704168d0ae12929b53be (patch)
treee971e092f63fbe975fe9ffa4b60ffbfc028ca92e /digital/mimot/src/dirty/aux.h
parent2aff3a82387b86b390348adb63cde3fe92b041db (diff)
digital/mimot: better find zero/limit
Diffstat (limited to 'digital/mimot/src/dirty/aux.h')
-rw-r--r--digital/mimot/src/dirty/aux.h8
1 files changed, 6 insertions, 2 deletions
diff --git a/digital/mimot/src/dirty/aux.h b/digital/mimot/src/dirty/aux.h
index f31b789a..7ec60617 100644
--- a/digital/mimot/src/dirty/aux.h
+++ b/digital/mimot/src/dirty/aux.h
@@ -50,6 +50,8 @@ struct aux_t
uint8_t zero_bv;
/** Handle blocking by aux instead of pos. */
uint8_t handle_blocking;
+ /** Reset position after zero is found. */
+ int16_t reset_pos;
};
extern struct aux_t aux[AC_ASSERV_AUX_NB];
@@ -68,10 +70,12 @@ aux_traj_clamp_start (struct aux_t *aux, int8_t speed, int16_t clampin_pwm,
uint8_t seq);
void
-aux_traj_find_zero_start (struct aux_t *aux, int8_t speed, uint8_t seq);
+aux_traj_find_zero_start (struct aux_t *aux, int8_t speed, int16_t reset_pos,
+ uint8_t seq);
void
-aux_traj_find_limit_start (struct aux_t *aux, int8_t speed, uint8_t seq);
+aux_traj_find_limit_start (struct aux_t *aux, int8_t speed, int16_t reset_pos,
+ uint8_t seq);
void
aux_traj_update (void);