}
/** 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);
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);
+}