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authorNicolas Schodet2010-10-09 13:53:55 +0200
committerNicolas Schodet2010-11-01 10:33:33 +0100
commit2c9f8347499be7453b8ce4a6f11eb5b32b94b780 (patch)
treee3ee53fc01297080c407778103b49bdf03151561 /AT91SAM7S256/Source/d_output.h
parent3b2647cd33fe16f372f1c3c99d16282ea0b74bbd (diff)
add absolute position control
Diffstat (limited to 'AT91SAM7S256/Source/d_output.h')
-rw-r--r--AT91SAM7S256/Source/d_output.h2
1 files changed, 2 insertions, 0 deletions
diff --git a/AT91SAM7S256/Source/d_output.h b/AT91SAM7S256/Source/d_output.h
index 7369b34..6b944a8 100644
--- a/AT91SAM7S256/Source/d_output.h
+++ b/AT91SAM7S256/Source/d_output.h
@@ -43,6 +43,7 @@
#define REGSTATE_IDLE 0x00
#define REGSTATE_REGULATED 0x01
#define REGSTATE_SYNCHRONE 0x02
+#define REGSTATE_POSITION 0x04
//Constant reffering to RunState parameter
#define MOTOR_RUN_STATE_IDLE 0x00
@@ -79,6 +80,7 @@ void dOutputCalculateRampUpParameter(UBYTE MotorNr, ULONG NewTachoLimit);
void dOutputRampDownFunction(UBYTE MotorNr);
void dOutputRampUpFunction(UBYTE MotorNr);
void dOutputTachoLimitControl(UBYTE MotorNr);
+void dOutputAbsolutePositionRegulation(UBYTE MotorNr);
void dOutputCalculateMotorPosition(UBYTE MotorNr);
void dOutputSyncMotorPosition(UBYTE MotorOne, UBYTE MotorTwo);
void dOutputMotorReachedTachoLimit(UBYTE MotorNr);