From d261d97b1497f67503faa04b83a999848381a791 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 2 May 2010 10:08:38 +0200 Subject: digital/asserv/src/asserv: find zero by pushing on hardware limits --- digital/asserv/src/asserv/twi_proto.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (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 c4fa1f0d..3602a1b6 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -211,9 +211,9 @@ twi_proto_callback (u8 *buf, u8 size) aux_traj_goto_start (&aux[0], v8_to_v16 (buf[2], buf[3]), 0); break; case c ('B', 1): - /* Find the zero position of the arm. + /* Find the aux0 zero position. * - b: speed. */ - aux_traj_find_zero_start (&aux[0], buf[2], 0); + aux_traj_find_limit_start (&aux[0], buf[2], 0); break; case c ('c', 3): /* Move the aux1. @@ -223,9 +223,9 @@ twi_proto_callback (u8 *buf, u8 size) aux_traj_goto_start (&aux[1], v8_to_v16 (buf[2], buf[3]), 0); break; case c ('C', 1): - /* Find the zero position of the aux1. + /* Find the aux0 zero position. * - b: speed. */ - aux_traj_find_zero_start (&aux[1], buf[2], 0); + aux_traj_find_limit_start (&aux[1], buf[2], 0); break; case c ('p', x): /* Set parameters. */ -- cgit v1.2.3