X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager.c;fp=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager.c;h=731153226a695ce8b369004551ea261f918dce3e;hp=773388ee5d6fb0be370ce301ba4a93f01e2b7583;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=a33ceba76b3770d48c68a321b5d259893ddc613c

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager.c b/modules/devices/robot/trajectory_manager/trajectory_manager.c
index 773388e..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_sp
 	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)