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authorNicolas Schodet2008-04-17 23:51:47 +0200
committerNicolas Schodet2008-04-17 23:51:47 +0200
commit707f39c85ea1f20f436dbcd08f9de51ffa609a03 (patch)
tree5f909dd0ca8a54ad31eac684f6a2cacb8de1bc33 /digital/asserv/src/asserv/traj.c
parent8add28be0060c0e23a79128b45d4992bd66c65fd (diff)
* digital/asserv/src/assserv:
- speed will finish the movement only if the current mode is speed.
Diffstat (limited to 'digital/asserv/src/asserv/traj.c')
-rw-r--r--digital/asserv/src/asserv/traj.c4
1 files changed, 2 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/traj.c b/digital/asserv/src/asserv/traj.c
index 19995818..bc95b39a 100644
--- a/digital/asserv/src/asserv/traj.c
+++ b/digital/asserv/src/asserv/traj.c
@@ -166,8 +166,8 @@ traj_goto (void)
if (UTILS_ABS (dx) < ((int32_t) traj_eps) << 8
&& UTILS_ABS (dy) < ((int32_t) traj_eps) << 8)
{
- /* Near enough, stop. */
- state_finish (&state_main);
+ /* Near enough, stop, let speed terminate the movement. */
+ state_main.mode = MODE_SPEED;
traj_mode = TRAJ_DONE;
}
else