#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 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 */