From e6ef3e6642c4966a59b176fe6032939451954564 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 30 Apr 2008 23:06:37 +0200 Subject: * digital/asserv/src/asserv: - added angle limit setting. --- digital/asserv/src/asserv/main.c | 7 ++++++- 1 file changed, 6 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 9516fd43..2ea3d95d 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -108,6 +108,7 @@ main (int argc, char **argv) uart0_init (); twi_proto_init (); postrack_init (); + traj_init (); eeprom_read_params (); proto_send0 ('z'); sei (); @@ -583,6 +584,9 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) traj_eps = v8_to_v16 (args[1], args[2]); traj_aeps = v8_to_v16 (args[3], args[4]); break; + case c ('l', 3): + traj_set_angle_limit (v8_to_v16 (args[1], args[2])); + break; case c ('w', 2): /* Set PWM direction. * - b: bits: 0000[aux0][right][left]. */ @@ -616,7 +620,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) proto_send1w ('I', pos_i_sat); proto_send1w ('D', pos_d_sat); proto_send1w ('b', pos_blocked); - proto_send1w ('e', traj_eps); + proto_send2w ('e', traj_eps, traj_aeps); + proto_send1w ('l', traj_angle_limit); proto_send1b ('w', pwm_reverse); break; default: -- cgit v1.2.3