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add a get_State() func
[aversive.git]
/
modules
/
devices
/
robot
/
trajectory_manager
/
trajectory_manager_core.c
diff --git
a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index
c71def0
..
e4f2df6
100644
(file)
--- a/
modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/
modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@
-191,8
+191,6
@@
void trajectory_stop(struct trajectory *traj)
UPDATE_A | UPDATE_D | RESET_D | RESET_A);
}
UPDATE_A | UPDATE_D | RESET_D | RESET_A);
}
-//#include <stackdump.h>
-
/** set relative angle and distance consign to 0, and break any
* deceleration ramp in quadramp filter */
void trajectory_hardstop(struct trajectory *traj)
/** set relative angle and distance consign to 0, and break any
* deceleration ramp in quadramp filter */
void trajectory_hardstop(struct trajectory *traj)
@@
-1057,7
+1055,8
@@
int8_t trajectory_clitoid(struct trajectory *traj,
if (calc_clitoid(traj, x, y, a_rad, alpha_deg, beta_deg, R_mm,
Vd, traj->a_acc, d_inter_mm,
&Aa, &Va, &remain) < 0) {
if (calc_clitoid(traj, x, y, a_rad, alpha_deg, beta_deg, R_mm,
Vd, traj->a_acc, d_inter_mm,
&Aa, &Va, &remain) < 0) {
- DEBUG(E_TRAJECTORY, "%s() calc_clitoid returned an error");
+ DEBUG(E_TRAJECTORY, "%s() calc_clitoid returned an error",
+ __FUNCTION__);
return -1;
}
return -1;
}