From 2e0727532fdc1e9eb5b72188182c7a8a7c4ab3fc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 30 Mar 2009 00:20:05 +0200 Subject: * digital/asserv/src/asserv: - use a structure for PWM state. --- digital/asserv/src/asserv/main.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'digital/asserv/src/asserv/main.c') diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index db3064da..1ba1f956 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -193,7 +193,7 @@ main_loop (void) #endif /* HOST */ if (main_stat_pwm && !--main_stat_pwm_cpt) { - proto_send3w ('W', pwm_left, pwm_right, pwm_aux0); + proto_send3w ('W', pwm_left.cur, pwm_right.cur, pwm_aux0.cur); main_stat_pwm_cpt = main_stat_pwm; } if (main_stat_timer && !--main_stat_timer_cpt) @@ -231,8 +231,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) pos_reset (&pos_theta); pos_reset (&pos_alpha); state_main.mode = MODE_PWM; - pwm_left = 0; - pwm_right = 0; + pwm_set (&pwm_left, 0); + pwm_set (&pwm_right, 0); break; case c ('w', 4): /* Set pwm. @@ -241,15 +241,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) pos_reset (&pos_theta); pos_reset (&pos_alpha); state_main.mode = MODE_PWM; - PWM_SET (pwm_left, v8_to_v16 (args[0], args[1])); - PWM_SET (pwm_right, v8_to_v16 (args[2], args[3])); + pwm_set (&pwm_left, v8_to_v16 (args[0], args[1])); + pwm_set (&pwm_right, v8_to_v16 (args[2], args[3])); break; case c ('w', 2): /* Set auxiliary pwm. * - w: pwm. */ pos_reset (&pos_aux0); state_aux0.mode = MODE_PWM; - PWM_SET (pwm_aux0, v8_to_v16 (args[0], args[1])); + pwm_set (&pwm_aux0, v8_to_v16 (args[0], args[1])); break; case c ('c', 4): /* Add to position consign. -- cgit v1.2.3