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libabdrive
setAcceleration.c
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#include "
abdrive.h
"
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int
abd_abs(
int
value);
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volatile
int
abd_rampStep[3];
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volatile
int
abd_gotoRampStep[3];
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/*
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void drive_setAcceleration(int ticksPerSecSq)
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{
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abd_rampStep[ABD_B] = ticksPerSecSq/50;
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}
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*/
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void
drive_setAcceleration
(
int
forGotoOrSpeed,
int
ticksPerSecSq)
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{
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int
accelTps2 = abd_abs(ticksPerSecSq) / 50;
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switch
(forGotoOrSpeed)
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{
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case
FOR_SPEED
:
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{
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abd_rampStep[ABD_B] = accelTps2;
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}
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case
FOR_GOTO
:
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{
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abd_gotoRampStep[ABD_B] = accelTps2;
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}
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}
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}
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drive_setAcceleration
void drive_setAcceleration(int forGotoOrSpeed, int ticksPerSecSq)
Set the acceleration used by either drive_goto or drive_speed.
Definition:
setAcceleration.c:15
FOR_SPEED
#define FOR_SPEED
This constant can be used in place of 0 to tell drive_setAcceleration and drive_setMaxVelocity to set...
Definition:
abdrive.h:195
FOR_GOTO
#define FOR_GOTO
This constant can be used in place of 0 to tell drive_setAcceleration and drive_setMaxVelocity to set...
Definition:
abdrive.h:184
abdrive.h
This library takes care of encoder monitoring and servo signaling, and provides a simple set of funct...
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