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authorNicolas Schodet2012-05-17 11:48:05 +0200
committerNicolas Schodet2012-05-17 14:18:22 +0200
commit0a60b83874961ceca69420eda184b78f090ffb16 (patch)
treecc06ea1e998f97fef819bea09459b323104e3a16 /digital/asserv/src/asserv/twi_proto.c
parent4c35fc806f02fb463408ba7067f04cf2793b2b2b (diff)
digital/asserv/src/asserv: add stop traj mode
Diffstat (limited to 'digital/asserv/src/asserv/twi_proto.c')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c4
1 files changed, 1 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index 7c649e1c..c9e8a1f4 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -138,9 +138,7 @@ twi_proto_callback (u8 *buf, u8 size)
break;
case c ('s', 0):
/* Stop (set zero speed). */
- speed_control_set_speed (&cs_main.speed_theta, 0);
- speed_control_set_speed (&cs_main.speed_alpha, 0);
- control_state_set_mode (&cs_main.state, CS_MODE_SPEED_CONTROL, 0);
+ traj_stop_start ();
break;
case c ('l', 3):
/* Set linear speed controlled position consign.