From 2e0727532fdc1e9eb5b72188182c7a8a7c4ab3fc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 30 Mar 2009 00:20:05 +0200 Subject: * digital/asserv/src/asserv: - use a structure for PWM state. --- digital/asserv/src/asserv/pos.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 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 af3d0315..e84a0905 100644 --- a/digital/asserv/src/asserv/pos.c +++ b/digital/asserv/src/asserv/pos.c @@ -133,16 +133,16 @@ pos_update (void) pos_reset (&pos_theta); pos_reset (&pos_alpha); state_blocked (&state_main); - pwm_left = 0; - pwm_right = 0; + pwm_set (&pwm_left, 0); + pwm_set (&pwm_right, 0); } else { pid_theta = pos_compute_pid (diff_theta, &pos_theta); pid_alpha = pos_compute_pid (diff_alpha, &pos_alpha); /* Update PWM. */ - PWM_SET (pwm_left, pid_theta - pid_alpha); - PWM_SET (pwm_right, pid_theta + pid_alpha); + pwm_set (&pwm_left, pid_theta - pid_alpha); + pwm_set (&pwm_right, pid_theta + pid_alpha); } } if (state_aux0.mode >= MODE_POS) @@ -158,13 +158,13 @@ pos_update (void) /* Blocked. */ pos_reset (&pos_aux0); state_blocked (&state_aux0); - pwm_aux0 = 0; + pwm_set (&pwm_aux0, 0); } else { pid = pos_compute_pid (diff, &pos_aux0); /* Update PWM. */ - PWM_SET (pwm_aux0, pid); + pwm_set (&pwm_aux0, pid); } } } -- cgit v1.2.3