From 4895e54c666db9720abda0aa8ae901058679aee3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 18 Dec 2011 15:19:06 +0100 Subject: digital/asserv: convert to new control system --- digital/asserv/src/asserv/pos.h | 62 ----------------------------------------- 1 file changed, 62 deletions(-) delete mode 100644 digital/asserv/src/asserv/pos.h (limited to 'digital/asserv/src/asserv/pos.h') diff --git a/digital/asserv/src/asserv/pos.h b/digital/asserv/src/asserv/pos.h deleted file mode 100644 index 2cca2111..00000000 --- a/digital/asserv/src/asserv/pos.h +++ /dev/null @@ -1,62 +0,0 @@ -#ifndef pos_h -#define pos_h -/* pos.h */ -/* asserv - Position & speed motor control on AVR. {{{ - * - * Copyright (C) 2008 Nicolas Schodet - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} */ - -/** Position control state. */ -struct pos_t -{ - /** Current position. */ - uint32_t cur; - /** Consign position. */ - uint32_t cons; - /** PID coefficients (f8.8, maximum depends on saturation values). */ - uint16_t kp, ki, kd; - /** Current integral value. */ - int32_t i; - /** Last error value. */ - int32_t e_old; - /** Blocking detection: error limit. */ - int32_t blocked_error_limit; - /** Blocking detection: speed limit. */ - int16_t blocked_speed_limit; - /** Blocking detection: counter limit. */ - uint8_t blocked_counter_limit; - /** Count the number of blocked detection. */ - uint8_t blocked_counter; -}; - -extern struct pos_t pos_theta, pos_alpha; -extern struct pos_t pos_aux[AC_ASSERV_AUX_NB]; - -extern int32_t pos_e_sat, pos_i_sat, pos_d_sat; - -void -pos_update (void); - -void -pos_reset (struct pos_t *pos); - -#endif /* pos_h */ -- cgit v1.2.3