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authorNicolas Schodet2012-05-17 00:42:31 +0200
committerNicolas Schodet2012-05-17 01:19:24 +0200
commit04816a2763a12e4cb90f5c2de4b8f5b9e37a3f22 (patch)
treea4a8a374a6e3797fb7ebce3464c4b63015ea473b /digital/io-hub/src/robospierre
parent1fa0c895044e3219d0494b850896e263ac0d8ad1 (diff)
digital/{ai,io-hub,mimot}: add parameter for brake
Diffstat (limited to 'digital/io-hub/src/robospierre')
-rw-r--r--digital/io-hub/src/robospierre/clamp.c8
-rw-r--r--digital/io-hub/src/robospierre/main.c4
2 files changed, 6 insertions, 6 deletions
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 1f8c5072..39ae8dfa 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -547,8 +547,8 @@ clamp_blocked (void)
else
logistic_dump (DIRECTION_BACKWARD, 0);
}
- mimot_motor0_free ();
- mimot_motor1_free ();
+ mimot_motor_free (0, 1);
+ mimot_motor_free (1, 1);
/* Signal problem. */
fsm_queue_post_event (FSM_EVENT (AI, clamp_move_failure));
}
@@ -649,8 +649,8 @@ FSM_TRANS (CLAMP_INIT_FINDING_TOP, clamp_elevation_success,
FSM_TRANS (CLAMP_INIT_GOING_REST, clamp_move_success, CLAMP_INIT_READY)
{
- mimot_motor0_free ();
- mimot_motor1_free ();
+ mimot_motor_free (0, 1);
+ mimot_motor_free (1, 1);
return FSM_NEXT (CLAMP_INIT_GOING_REST, clamp_move_success);
}
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index f16333c5..e68de49c 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -340,8 +340,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
case c ('w', 0):
/* Disable all motor control. */
- mimot_motor0_free ();
- mimot_motor1_free ();
+ mimot_motor_free (0, 0);
+ mimot_motor_free (1, 0);
asserv_free_motor ();
break;
/* Stats commands.