From 2a4a75a37a4a82d0a5e300b43b40d1ce8b0fb5c7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 Apr 2008 19:36:50 +0200 Subject: * digital/asserv/src/asserv: - added differential part saturation to increase proportionnal part. --- digital/asserv/src/asserv/main.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'digital/asserv/src/asserv/main.c') diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index 5913c107..99c0e369 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -507,7 +507,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) pos_e_sat = v8_to_v16 (args[1], args[2]); break; case c ('I', 3): - pos_int_sat = v8_to_v16 (args[1], args[2]); + pos_i_sat = v8_to_v16 (args[1], args[2]); + break; + case c ('D', 3): + pos_d_sat = v8_to_v16 (args[1], args[2]); break; case c ('b', 3): pos_blocked = v8_to_v16 (args[1], args[2]); @@ -545,7 +548,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) proto_send1w ('i', pos_aux0.ki); proto_send1w ('d', pos_aux0.kd); proto_send1w ('E', pos_e_sat); - proto_send1w ('I', pos_int_sat); + proto_send1w ('I', pos_i_sat); + proto_send1w ('D', pos_d_sat); proto_send1w ('b', pos_blocked); proto_send1w ('e', traj_eps); proto_send1b ('w', pwm_reverse); -- cgit v1.2.3