From a4a22ea2a425854db01f5fc227ae223e54f75d32 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 29 Jan 2011 14:17:20 +0100 Subject: add speed and acceleration limit to absolute position regulation When the set position is changed, absolute position regulation will run the motor as fast as possible to reach the requested position. This is not always the needed behaviour. This commit add speed and acceleration filtering to the position change. --- AT91SAM7S256/Source/d_output.h | 3 +++ 1 file changed, 3 insertions(+) (limited to 'AT91SAM7S256/Source/d_output.h') diff --git a/AT91SAM7S256/Source/d_output.h b/AT91SAM7S256/Source/d_output.h index 41b1cfc..ffad27b 100644 --- a/AT91SAM7S256/Source/d_output.h +++ b/AT91SAM7S256/Source/d_output.h @@ -39,6 +39,9 @@ #endif +#define DEFAULT_MAX_SPEED 80 +#define DEFAULT_MAX_ACCELERATION 20 + #define REGULATION_TIME 100 // Measured in 1 mS, regulation interval //Constant reffering to RegMode parameter -- cgit v1.2.3