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authorJohn Hansen2011-03-13 23:36:50 +0000
committerNicolas Schodet2011-07-04 00:37:04 +0200
commitfc1e658f15bbb8d4497d189e79b43fab4b964839 (patch)
tree829ae4b3ece944522a68919cd2685d49fc06c341 /AT91SAM7S256/Source/c_output.iom
parentd8a6b2de30e139a676593aac5feb9eb47479dce2 (diff)
Added position regulation mode (Nicolas Schodet)
git-svn-id: https://mindboards.svn.sourceforge.net/svnroot/mindboards/lms_nbcnxc/branches/version_131@37 c9361245-7fe8-9947-84e8-057757c4e366
Diffstat (limited to 'AT91SAM7S256/Source/c_output.iom')
-rw-r--r--AT91SAM7S256/Source/c_output.iom14
1 files changed, 8 insertions, 6 deletions
diff --git a/AT91SAM7S256/Source/c_output.iom b/AT91SAM7S256/Source/c_output.iom
index f6191bf..989a0c4 100644
--- a/AT91SAM7S256/Source/c_output.iom
+++ b/AT91SAM7S256/Source/c_output.iom
@@ -52,9 +52,10 @@ enum
// Constant related to RegMode
enum
{
- REGULATION_MODE_IDLE,
- REGULATION_MODE_MOTOR_SPEED,
- REGULATION_MODE_MOTOR_SYNC
+ REGULATION_MODE_IDLE = 0,
+ REGULATION_MODE_MOTOR_SPEED = 1,
+ REGULATION_MODE_MOTOR_SYNC = 2,
+ REGULATION_MODE_MOTOR_POS = 4,
};
typedef struct
@@ -76,15 +77,16 @@ typedef struct
UBYTE Overloaded; /* R - True if the motor has been overloaded within speed control regulation */
SBYTE SyncTurnParameter; /* RW - Holds the turning parameter need within MoveBlock */
UBYTE Options;
- UBYTE SpareTwo;
- UBYTE SpareThree;
+ SBYTE MaxSpeed; /* RW - Maximum speed for absolute regulation, or 0 for no limit */
+ SBYTE MaxAcceleration; /* RW - Maximum acceleration for absolute regulation, or 0 for no limit */
}OUTPUT;
typedef struct
{
OUTPUT Outputs[NO_OF_OUTPUTS];
- UBYTE PwnFreq; // use for frequency of checking regulation mode
+ UBYTE RegulationTime; /* RW - Interval between regulation computations */
+ UBYTE RegulationOptions; /* RW - Options for regulation, see REGOPTION_* */
}IOMAPOUTPUT;