From d47046315caff4ce01b3ea39126b476e56ab3703 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 20 Apr 2008 21:29:29 +0200 Subject: * digital/asserv/src/asserv: - added absolute auxiliary motor position command. --- digital/asserv/src/asserv/twi_proto.c | 11 ++++------- 1 file changed, 4 insertions(+), 7 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 c7564766..ffc55061 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -38,6 +38,7 @@ #include "speed.h" #include "postrack.h" #include "traj.h" +#include "aux.h" struct twi_proto_t { @@ -83,8 +84,8 @@ twi_proto_update (void) status[7] = v32_to_v8 (postrack_y, 1); status[8] = v32_to_v8 (postrack_a, 2); status[9] = v32_to_v8 (postrack_a, 1); - status[10] = v16_to_v8 (pos_aux0.cons, 1); - status[11] = v16_to_v8 (pos_aux0.cons, 0); + status[10] = v16_to_v8 (aux0.pos, 1); + status[11] = v16_to_v8 (aux0.pos, 0); twi_sl_update (status, sizeof (status)); } @@ -166,12 +167,8 @@ twi_proto_callback (u8 *buf, u8 size) /* Move the arm. * - w: new position. * - b: speed. */ - speed_aux0.use_pos = 1; - speed_aux0.pos_cons = pos_aux0.cons; - speed_aux0.pos_cons += v8_to_v32 (0, 0, buf[2], buf[3]); speed_aux0.max = buf[4]; - speed_aux0.slow = buf[4]; - state_start (&state_aux0, MODE_SPEED, 0); + aux_traj_goto_start (v8_to_v16 (buf[2], buf[3]), 0); break; case c ('p', x): /* Set parameters. */ -- cgit v1.2.3