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authorNicolas Schodet2009-05-09 01:37:00 +0200
committerNicolas Schodet2009-05-09 01:37:00 +0200
commitc6367a657f9326cf590c721f4c9ab4b7fcdbc59b (patch)
tree08696961edf25b329e6d744aece8b18457eb18d9 /digital/asserv/src/asserv/main.c
parentb76073669f43dca5e10cc1127d0818a05859058f (diff)
* digital/asserv:
- simplified find zero.
Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c9
1 files changed, 5 insertions, 4 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 983995f5..f0b7e5b3 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -455,7 +455,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
v8_to_v32 (0, args[8], args[9], 0),
1, args[10]);
break;
- case c ('y', 3):
+ case c ('y', 4):
/* Auxiliary go to position.
* - b: aux index.
* - w: pos, i16.
@@ -465,14 +465,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
aux_traj_goto_start (auxp, v8_to_v16 (args[1], args[2]), args[3]);
break;
- case c ('y', 1):
+ case c ('y', 3):
/* Auxiliary find zero.
* - b: aux index.
+ * - b: speed.
* - b: sequence number. */
if (!auxp) { proto_send0 ('?'); return; }
- if (args[1] == state->sequence)
+ if (args[2] == state->sequence)
break;
- aux_traj_find_zero_start (auxp, args[1]);
+ aux_traj_find_zero_start (auxp, args[1], args[2]);
break;
case c ('a', 3):
/* Set all acknoledge.