Almost done trapezioidal model

moving_model/moving.c

@@ -16,6 +16,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <math.h>
 #include <stdio.h>
 #include <usefull_macros.h>
 #include <pthread.h>
@@ -57,7 +58,7 @@ static void* thread(void _U_ *u){
         //pthread_mutex_lock(&mutex);
         movestate_t curstate = model->get_state(NULL);
         moveparam_t curmove;
-        if(curstate != ST_STOP && curstate != ST_ERROR){
+        if(curstate == ST_MOVE){
             curstate = model->proc_move(&curmove, t);
         }
         //pthread_mutex_unlock(&mutex);