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authorNicolas Schodet2011-01-29 21:59:45 +0100
committerNicolas Schodet2011-02-09 00:56:52 +0100
commit0cb650f1cf6f446bbb0186300a198b5936f49bb4 (patch)
tree83bfe92eaedc0ae3eb826e85b86d58639213fce9 /AT91SAM7S256/Source/c_output.c
parenta4a22ea2a425854db01f5fc227ae223e54f75d32 (diff)
provide access to the maximum speed and acceleration from user code and iomap
Diffstat (limited to 'AT91SAM7S256/Source/c_output.c')
-rw-r--r--AT91SAM7S256/Source/c_output.c3
1 files changed, 3 insertions, 0 deletions
diff --git a/AT91SAM7S256/Source/c_output.c b/AT91SAM7S256/Source/c_output.c
index a016361..e0645e0 100644
--- a/AT91SAM7S256/Source/c_output.c
+++ b/AT91SAM7S256/Source/c_output.c
@@ -56,6 +56,8 @@ void cOutputInit(void* pHeader)
pOut->RegIParameter = DEFAULT_I_GAIN_FACTOR;
pOut->RegDParameter = DEFAULT_D_GAIN_FACTOR;
pOut->Options = 0x00;
+ pOut->MaxSpeed = DEFAULT_MAX_SPEED;
+ pOut->MaxAcceleration = DEFAULT_MAX_ACCELERATION;
}
IOMapOutput.RegulationTime = REGULATION_TIME;
IOMapOutput.RegulationOptions = 0;
@@ -134,6 +136,7 @@ void cOutputCtrl(void)
{
pOut->Flags &= ~UPDATE_PID_VALUES;
dOutputSetPIDParameters(Tmp, pOut->RegPParameter, pOut->RegIParameter, pOut->RegDParameter);
+ dOutputSetMax(Tmp, pOut->MaxSpeed, pOut->MaxAcceleration);
}
}
}