From 2781ad249062dac90dd5b86da6b2d54bfa597e7e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 10 May 2010 08:38:26 +0200 Subject: digital/mimot: add clamp command --- digital/mimot/src/dirty/twi_proto.c | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'digital/mimot/src/dirty/twi_proto.c') diff --git a/digital/mimot/src/dirty/twi_proto.c b/digital/mimot/src/dirty/twi_proto.c index 37c1b64f..a6894109 100644 --- a/digital/mimot/src/dirty/twi_proto.c +++ b/digital/mimot/src/dirty/twi_proto.c @@ -139,6 +139,17 @@ twi_proto_callback (u8 *buf, u8 size) * - b: speed. */ aux_traj_find_limit_start (&aux[1], buf[2], 0); break; + case c ('l', 4): + /* Clamp. + * - b: aux index. + * - b: speed. + * - w: claming PWM. */ + if (buf[2] < AC_ASSERV_AUX_NB) + aux_traj_clamp_start (&aux[buf[2]], buf[3], + v8_to_v16 (buf[4], buf[5]), 0); + else + buf[0] = 0; + break; case c ('p', x): /* Set parameters. */ if (twi_proto_params (&buf[2], size - 2) != 0) -- cgit v1.2.3