From 1431438a2b0f3fafbafb61a4a15296164dadf5e1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 Apr 2009 16:22:53 +0200 Subject: * digital/asserv: - added second auxiliary motor support. --- digital/asserv/src/asserv/pos.c | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) (limited to 'digital/asserv/src/asserv/pos.c') diff --git a/digital/asserv/src/asserv/pos.c b/digital/asserv/src/asserv/pos.c index eafd2877..0679de40 100644 --- a/digital/asserv/src/asserv/pos.c +++ b/digital/asserv/src/asserv/pos.c @@ -44,7 +44,7 @@ struct pos_t pos_theta, pos_alpha; /** Auxiliaries control states. */ -struct pos_t pos_aux0; +struct pos_t pos_aux[AC_ASSERV_AUX_NB]; /** Error saturation. */ int32_t pos_e_sat = 1023; @@ -183,10 +183,13 @@ pos_update_single (struct state_t *state, struct pos_t *pos, void pos_update (void) { + uint8_t i; pos_update_polar (&state_main, &pos_theta, &pos_alpha, counter_left_diff, counter_right_diff, &pwm_left, &pwm_right); - pos_update_single (&state_aux0, &pos_aux0, counter_aux0_diff, &pwm_aux0); + for (i = 0; i < AC_ASSERV_AUX_NB; i++) + pos_update_single (&state_aux[i], &pos_aux[i], counter_aux_diff[i], + &pwm_aux[i]); } /** Reset position control state. To be called when the position control is -- cgit v1.2.3