From 6da4d0ba2001dda52ef1ac7917f0e88cec93bebc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 Apr 2008 23:52:08 +0200 Subject: * digital/asserv/src/asserv: - added goto_angle command. - fixed: should always set pos_cons when use_pos is set. --- digital/asserv/src/asserv/main.c | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) (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 99c0e369..79969a6b 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -359,6 +359,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) v8_to_v32 (args[4], args[5], args[6], args[7]), args[8]); break; + case c ('x', 5): + /* Go to angle. + * - d: a, f8.24. + * - b: sequence number. */ + if (args[4] == state_main.sequence) + break; + traj_goto_angle_start (v8_to_v32 (args[0], args[1], args[2], args[3]), + args[4]); + break; case c ('a', 2): /* Set both acknoledge. * - b: main ack sequence number. @@ -515,8 +524,9 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) case c ('b', 3): pos_blocked = v8_to_v16 (args[1], args[2]); break; - case c ('e', 3): + case c ('e', 5): traj_eps = v8_to_v16 (args[1], args[2]); + traj_aeps = v8_to_v16 (args[3], args[4]); break; case c ('w', 2): /* Set PWM direction. -- cgit v1.2.3