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-rw-r--r--digital/asserv/src/asserv/traj.c19
1 files changed, 16 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/traj.c b/digital/asserv/src/asserv/traj.c
index 926dcc5c..440c7be4 100644
--- a/digital/asserv/src/asserv/traj.c
+++ b/digital/asserv/src/asserv/traj.c
@@ -22,6 +22,19 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
+#include "common.h"
+#include "traj.h"
+
+#include "io.h"
+
+#include "speed.h"
+#include "state.h"
+
+#ifdef HOST
+# include "simu.host.h"
+#endif
+
+/* This file provides high level trajectories commands. */
/** Traj mode:
* 10, 11: go to the wall.
@@ -29,7 +42,7 @@
uint8_t traj_mode;
/** Go to the wall mode. */
-void
+static void
traj_ftw (void)
{
int16_t speed;
@@ -56,13 +69,13 @@ traj_ftw (void)
speed_alpha_cons = 0;
speed_theta_cur = 0;
speed_alpha_cur = 0;
- main_sequence_finish = main_sequence;
+ state_finish (&state_main);
traj_mode = 11;
}
}
/* Compute new speed according the defined trajectory. */
-static void
+void
traj_update (void)
{
switch (traj_mode)