From fc1e658f15bbb8d4497d189e79b43fab4b964839 Mon Sep 17 00:00:00 2001 From: John Hansen Date: Sun, 13 Mar 2011 23:36:50 +0000 Subject: 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 --- AT91SAM7S256/Source/c_cmd.c | 8 ++++++++ 1 file changed, 8 insertions(+) (limited to 'AT91SAM7S256/Source/c_cmd.c') diff --git a/AT91SAM7S256/Source/c_cmd.c b/AT91SAM7S256/Source/c_cmd.c index 231ebec..7a81c71 100644 --- a/AT91SAM7S256/Source/c_cmd.c +++ b/AT91SAM7S256/Source/c_cmd.c @@ -320,6 +320,8 @@ TYPE_CODE IO_TYPES_OUT[IO_OUT_FIELD_COUNT] = TC_SLONG, //IO_OUT_BLOCK_TACH_COUNT TC_SLONG, //IO_OUT_ROTATION_COUNT TC_UBYTE, //IO_OUT_OPTIONS + TC_SBYTE, //IO_OUT_MAX_SPEED + TC_SBYTE, //IO_OUT_MAX_ACCELERATION //IO_OUT1 TC_UBYTE, //IO_OUT_FLAGS @@ -338,6 +340,8 @@ TYPE_CODE IO_TYPES_OUT[IO_OUT_FIELD_COUNT] = TC_SLONG, //IO_OUT_BLOCK_TACH_COUNT TC_SLONG, //IO_OUT_ROTATION_COUNT TC_UBYTE, //IO_OUT_OPTIONS + TC_SBYTE, //IO_OUT_MAX_SPEED + TC_SBYTE, //IO_OUT_MAX_ACCELERATION //IO_OUT2 TC_UBYTE, //IO_OUT_FLAGS @@ -356,6 +360,8 @@ TYPE_CODE IO_TYPES_OUT[IO_OUT_FIELD_COUNT] = TC_SLONG, //IO_OUT_BLOCK_TACH_COUNT TC_SLONG, //IO_OUT_ROTATION_COUNT TC_UBYTE, //IO_OUT_OPTIONS + TC_SBYTE, //IO_OUT_MAX_SPEED + TC_SBYTE, //IO_OUT_MAX_ACCELERATION }; @@ -1402,6 +1408,8 @@ void cCmdInit(void* pHeader) IO_PTRS_OUT[IO_OUT_BLOCK_TACH_COUNT + i * IO_OUT_FPP] = (void*)&(pOut->BlockTachoCount); IO_PTRS_OUT[IO_OUT_ROTATION_COUNT + i * IO_OUT_FPP] = (void*)&(pOut->RotationCount); IO_PTRS_OUT[IO_OUT_OPTIONS + i * IO_OUT_FPP] = (void*)&(pOut->Options); + IO_PTRS_OUT[IO_OUT_MAX_SPEED + i * IO_OUT_FPP] = (void*)&(pOut->MaxSpeed); + IO_PTRS_OUT[IO_OUT_MAX_ACCELERATION + i * IO_OUT_FPP] = (void*)&(pOut->MaxAcceleration); } //Initialize IO_PTRS_IN -- cgit v1.2.3