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authorNicolas Schodet2008-04-17 23:52:08 +0200
committerNicolas Schodet2008-04-17 23:52:08 +0200
commit6da4d0ba2001dda52ef1ac7917f0e88cec93bebc (patch)
tree12276129dfb8bf31bb4767379a8008be5d5b9724 /digital/asserv/src/asserv/main.c
parent707f39c85ea1f20f436dbcd08f9de51ffa609a03 (diff)
* digital/asserv/src/asserv:
- added goto_angle command. - fixed: should always set pos_cons when use_pos is set.
Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c12
1 files changed, 11 insertions, 1 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 99c0e369..79969a6b 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -359,6 +359,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
v8_to_v32 (args[4], args[5], args[6], args[7]),
args[8]);
break;
+ case c ('x', 5):
+ /* Go to angle.
+ * - d: a, f8.24.
+ * - b: sequence number. */
+ if (args[4] == state_main.sequence)
+ break;
+ traj_goto_angle_start (v8_to_v32 (args[0], args[1], args[2], args[3]),
+ args[4]);
+ break;
case c ('a', 2):
/* Set both acknoledge.
* - b: main ack sequence number.
@@ -515,8 +524,9 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
case c ('b', 3):
pos_blocked = v8_to_v16 (args[1], args[2]);
break;
- case c ('e', 3):
+ case c ('e', 5):
traj_eps = v8_to_v16 (args[1], args[2]);
+ traj_aeps = v8_to_v16 (args[3], args[4]);
break;
case c ('w', 2):
/* Set PWM direction.