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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/d_output.c
parenta4a22ea2a425854db01f5fc227ae223e54f75d32 (diff)
provide access to the maximum speed and acceleration from user code and iomap
Diffstat (limited to 'AT91SAM7S256/Source/d_output.c')
-rw-r--r--AT91SAM7S256/Source/d_output.c8
1 files changed, 8 insertions, 0 deletions
diff --git a/AT91SAM7S256/Source/d_output.c b/AT91SAM7S256/Source/d_output.c
index f012ac2..326f6f8 100644
--- a/AT91SAM7S256/Source/d_output.c
+++ b/AT91SAM7S256/Source/d_output.c
@@ -293,6 +293,14 @@ void dOutputSetPIDParameters(UBYTE MotorNr, UBYTE NewRegPParameter, UBYTE NewReg
pMD->RegDParameter = NewRegDParameter;
}
+/* Set maximum speed and acceleration */
+void dOutputSetMax(UBYTE MotorNr, SBYTE NewMaxSpeed, SBYTE NewMaxAcceleration)
+{
+ MOTORDATA * pMD = &(MotorData[MotorNr]);
+ pMD->MotorMaxSpeed = NewMaxSpeed;
+ pMD->MotorMaxAcceleration = NewMaxAcceleration;
+}
+
/* Set new regulation time */
void dOutputSetRegulationTime(UBYTE NewRegulationTime)
{