X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager.c;h=773388ee5d6fb0be370ce301ba4a93f01e2b7583;hp=5fe3865d6db8032962daa79c3fbf58c117143b5d;hb=e0908eab4d4b00cf19083f91a9921b3e8d0cae63;hpb=966d2c97e5fda37297568c5e8ed66271e986bcdd

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager.c b/modules/devices/robot/trajectory_manager/trajectory_manager.c
index 5fe3865..773388e 100644
--- 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);
+}