X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/f11e0e40b525a7dfd9d452e02e676ee6cd0478a2..32aaacc65b9f894bea0897421277f71375a7f825:/pmsm-control/test_sw/pmsm_state.c

diff --git a/pmsm-control/test_sw/pmsm_state.c b/pmsm-control/test_sw/pmsm_state.c
index 3938dc7..acfd347 100644
--- a/pmsm-control/test_sw/pmsm_state.c
+++ b/pmsm-control/test_sw/pmsm_state.c
@@ -1,5 +1,6 @@
 #include "pmsm_state.h"
 #include "commutators.h"
+#include "controllers.h"
 
 /**
  * Index Lost.
@@ -36,3 +37,32 @@ inline void setCommutationOff(struct rpi_state* this){
 	this->commutate=0;
 	this->main_commutator=zero_commutator;
 }
+
+/**
+ * Turn on speed regulation.
+ */
+inline void setRegulationSpeed(struct rpi_state* this){
+	this->spd_reg_ena=1;
+	this->pos_reg_ena=0;
+	this->main_controller=spd_pid;
+}
+
+/**
+ * \brief Turn on position regulation
+ */
+inline void setRegulationPos(struct rpi_state* this){
+	this->spd_reg_ena=0;
+	this->pos_reg_ena=1;
+	this->main_controller=pos_pid;
+}
+
+/**
+ * \brief Turn off regulation.
+ */
+inline void setRegulationOff(struct rpi_state* this){
+	this->spd_reg_ena=0;
+	this->pos_reg_ena=0;
+	this->main_controller=zero_controller;
+
+
+}