#ifndef traj_h #define traj_h /* traj.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. * * }}} */ #define TRAJ_BACKWARD 1 #define TRAJ_REVERT_OK 2 extern uint8_t traj_mode; extern int16_t traj_eps; extern int16_t traj_aeps; extern uint16_t traj_angle_limit; void traj_init (void); void traj_update (void); void traj_angle_offset_start (int32_t angle, uint8_t seq); void traj_ftw_start (uint8_t backward, uint8_t seq); void traj_ftw_start_center (uint8_t backward, uint8_t center_delay, uint8_t seq); void traj_gtd_start (uint8_t seq); void traj_goto_start (uint32_t x, uint32_t y, uint8_t backward, uint8_t seq); void traj_goto_angle_start (uint32_t a, uint8_t seq); void traj_goto_xya_start (uint32_t x, uint32_t y, uint32_t a, uint8_t backward, uint8_t seq); void traj_set_angle_limit (uint16_t a); #endif /* traj_h */