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add ballboard commands on mainboard
[aversive.git]
/
modules
/
devices
/
robot
/
trajectory_manager
/
trajectory_manager.c
diff --git
a/modules/devices/robot/trajectory_manager/trajectory_manager.c
b/modules/devices/robot/trajectory_manager/trajectory_manager.c
index
5fe3865
..
773388e
100644
(file)
--- a/
modules/devices/robot/trajectory_manager/trajectory_manager.c
+++ b/
modules/devices/robot/trajectory_manager/trajectory_manager.c
@@
-77,7
+77,7
@@
void trajectory_set_robot_params(struct trajectory *traj,
}
/** set speed consign */
}
/** set speed consign */
-void trajectory_set_speed(
struct trajectory *traj, int16_t d_speed, int16_t a_speed)
+void trajectory_set_speed(struct trajectory *traj, int16_t d_speed, int16_t a_speed)
{
uint8_t flags;
IRQ_LOCK(flags);
{
uint8_t flags;
IRQ_LOCK(flags);
@@
-98,5
+98,11
@@
void trajectory_set_windows(struct trajectory *traj, double d_win,
IRQ_UNLOCK(flags);
}
IRQ_UNLOCK(flags);
}
-
-
+/** set corrective coef for circle */
+void trajectory_set_circle_coef(struct trajectory *traj, double coef)
+{
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ traj->circle_coef = coef ;
+ IRQ_UNLOCK(flags);
+}