From dbb94e5c0018371838914f62bfa14a62a1ad922a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 19 May 2009 20:04:17 +0200 Subject: * digital/asserv, digital/io: - added backward movements. --- digital/asserv/src/asserv/twi_proto.c | 32 ++++++++------------------------ 1 file changed, 8 insertions(+), 24 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 df41efaa..dac59f93 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -172,46 +172,30 @@ twi_proto_callback (u8 *buf, u8 size) /* Go to the dispenser. */ traj_gtd_start (0); break; - case c ('x', 6): + case c ('x', 7): /* Go to position. * - 3b: x position. - * - 3b: y position. */ - traj_goto_start (v8_to_v32 (buf[2], buf[3], buf[4], 0), - v8_to_v32 (buf[5], buf[6], buf[7], 0), - 0, 0); - break; - case c ('r', 6): - /* Go to position, backward allowed. - * - 3b: x position. - * - 3b: y position. */ + * - 3b: y position. + * - b: backward (see traj.h). */ traj_goto_start (v8_to_v32 (buf[2], buf[3], buf[4], 0), v8_to_v32 (buf[5], buf[6], buf[7], 0), - 1, 0); + buf[8], 0); break; case c ('y', 2): /* Go to angle. * - w: angle. */ traj_goto_angle_start (v8_to_v32 (0, buf[2], buf[3], 0), 0); break; - case c ('X', 8): + case c ('X', 9): /* Go to position, then angle. * - 3b: x position. * - 3b: y position. - * - w: angle. */ - traj_goto_xya_start (v8_to_v32 (buf[2], buf[3], buf[4], 0), - v8_to_v32 (buf[5], buf[6], buf[7], 0), - v8_to_v32 (0, buf[8], buf[9], 0), - 0, 0); - break; - case c ('R', 8): - /* Go to position, then angle, backward allowed. - * - 3b: x position. - * - 3b: y position. - * - w: angle. */ + * - w: angle. + * - b: backward (see traj.h). */ traj_goto_xya_start (v8_to_v32 (buf[2], buf[3], buf[4], 0), v8_to_v32 (buf[5], buf[6], buf[7], 0), v8_to_v32 (0, buf[8], buf[9], 0), - 1, 0); + buf[10], 0); break; case c ('b', 3): /* Move the aux0. -- cgit v1.2.3