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/twi_proto.c | 5 +++++ 1 file changed, 5 insertions(+) (limited to 'digital/asserv/src/asserv/twi_proto.c') diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c index 75a0a110..db6bac41 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -147,6 +147,11 @@ twi_proto_callback (u8 *buf, u8 size) v8_to_v32 (buf[5], buf[6], buf[7], 0), 0); break; + case c ('y', 0): + /* Go to angle. + * - w: angle. */ + traj_goto_angle_start (v8_to_v32 (0, buf[2], buf[3], 0), 0); + break; case c ('b', 3): /* Move the arm. * - w: new position. -- cgit v1.2.3