summaryrefslogtreecommitdiffhomepage
path: root/digital/asserv/src/asserv/twi_proto.c
diff options
context:
space:
mode:
authorNicolas Schodet2008-04-09 14:28:58 +0200
committerNicolas Schodet2008-04-09 14:28:58 +0200
commit99f271d6ad074e2d592b48b50a325ee241cdbe34 (patch)
tree29a237c9fc883e75b8237cdd2e02a0ec780f47c2 /digital/asserv/src/asserv/twi_proto.c
parent175831d2c1a3c52305431cc824cf233286a87eb4 (diff)
* digital/asserv/src/asserv:
- first goto xy implementation.
Diffstat (limited to 'digital/asserv/src/asserv/twi_proto.c')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c8
1 files changed, 8 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index e977bf76..75a0a110 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -139,6 +139,14 @@ twi_proto_callback (u8 *buf, u8 size)
/* Go to the dispenser. */
traj_gtd_start (0);
break;
+ case c ('x', 0):
+ /* Go to position.
+ * - 3b: x position.
+ * - 3b: y position. */
+ traj_goto_start (v8_to_v32 (buf[2], buf[3], buf[4], 0),
+ v8_to_v32 (buf[5], buf[6], buf[7], 0),
+ 0);
+ break;
case c ('b', 3):
/* Move the arm.
* - w: new position.