command circle set coef

[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 */
-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);
@@ -98,5 +98,11 @@ void trajectory_set_windows(struct trajectory *traj, double d_win,
        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);
+}