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authorNicolas Schodet2010-10-09 13:53:55 +0200
committerNicolas Schodet2011-01-29 21:30:27 +0100
commit7b66c5e1238ce5b45c40fed393fc3ac119b16f4a (patch)
treeaae8fe7dd85a66fe10fa43a2c0d966f7759c18cf /AT91SAM7S256/Source/d_output.h
parentd6216754827895a9694548b34c8a22d7eb61bd6f (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 1b0576a..1778414 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);