X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager.c;h=731153226a695ce8b369004551ea261f918dce3e;hp=5fe3865d6db8032962daa79c3fbf58c117143b5d;hb=8933c04126fa2885cdcc255271632bd4a5a51afe;hpb=91987ff2747a521681d087935148964eed6b3556

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager.c b/modules/devices/robot/trajectory_manager/trajectory_manager.c
index 5fe3865..7311532 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager.c
@@ -41,12 +41,13 @@
 /************ INIT FUNCS */
 
 /** structure initialization */
-void trajectory_init(struct trajectory *traj)
+void trajectory_init(struct trajectory *traj, double cs_hz)
 {
 	uint8_t flags;
 
 	IRQ_LOCK(flags);
 	memset(traj, 0, sizeof(struct trajectory));
+	traj->cs_hz = cs_hz;
 	traj->state = READY;
 	traj->scheduler_task = -1;
 	IRQ_UNLOCK(flags);
@@ -77,7 +78,7 @@ 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, double d_speed, double a_speed)
 {
 	uint8_t flags;
 	IRQ_LOCK(flags);
@@ -86,6 +87,16 @@ void trajectory_set_speed( struct trajectory *traj, int16_t d_speed, int16_t a_s
 	IRQ_UNLOCK(flags);
 }
 
+/** set acc consign */
+void trajectory_set_acc(struct trajectory *traj, double d_acc, double a_acc)
+{
+	uint8_t flags;
+	IRQ_LOCK(flags);
+	traj->d_acc = d_acc;
+	traj->a_acc = a_acc;
+	IRQ_UNLOCK(flags);
+}
+
 /** set windows for trajectory */
 void trajectory_set_windows(struct trajectory *traj, double d_win,
 			    double a_win_deg, double a_start_deg)
@@ -98,5 +109,11 @@ 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);
+}