From d6647a90f4bfe59968cf0f94443335f2673a32f3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 23 May 2009 00:09:23 +0200 Subject: * digital/asserv, digital/io: - added usage of center sensor. --- digital/asserv/src/asserv/main.c | 9 +++++++++ 1 file changed, 9 insertions(+) (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 b53e6d18..b980899e 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -391,6 +391,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) break; traj_ftw_start (args[0], args[1]); break; + case c ('f', 3): + /* Go to the wall, using center with a delay. + * - b: 0: forward, 1: backward. + * - b: delay. + * - b: sequence number. */ + if (args[1] == state_main.sequence) + break; + traj_ftw_start_center (args[0], args[1], args[2]); + break; case c ('F', 1): /* Go to the dispenser. * - b: sequence number. */ -- cgit v1.2.3