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authorNicolas Schodet2008-04-23 21:02:33 +0200
committerNicolas Schodet2008-04-23 21:02:33 +0200
commitb0e46d53dacdcc37dd4379c32fe886e5776f76c7 (patch)
treeb579095b3173c1fd925973f1335cacdb06a90dc0 /digital/io/doc
parentbe1feaa0f9d7049efbeceb970ad6d7cc39988a68 (diff)
* digital/asserv/src/asserv:
- added backward goto commands.
Diffstat (limited to 'digital/io/doc')
-rw-r--r--digital/io/doc/proto_asserv.txt7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/io/doc/proto_asserv.txt b/digital/io/doc/proto_asserv.txt
index 8573c81e..2fffb618 100644
--- a/digital/io/doc/proto_asserv.txt
+++ b/digital/io/doc/proto_asserv.txt
@@ -77,12 +77,19 @@ This table describe the list of supported commands by the *asserv* card:
| 'x' | Move | - x (3b) | Go to an absolute position |
| | | - y (3b) | |
+---------+-------+-----------------+------------------------------------------+
+| 'r' | Move | - x (3b) | Go to an absolute position, backward |
+| | | - y (3b) | movement allowed |
++---------+-------+-----------------+------------------------------------------+
| 'y' | Move | - a (2b) | Go to an absolute angle |
+---------+-------+-----------------+------------------------------------------+
| 'X' | Move | - x (3b) | Go to an absolute position, then an |
| | | - y (3b) | absolute angle |
| | | - a (2b) | |
+---------+-------+-----------------+------------------------------------------+
+| 'R' | Move | - x (3b) | Go to an absolute position, then an |
+| | | - y (3b) | absolute angle, backward movement |
+| | | - a (2b) | allowed |
++---------+-------+-----------------+------------------------------------------+
| 'b' | Arm | - position (2b) | Move the arm to a desired position |
| | | - speed (1b) | at a specific speed |
| | | | - position: 5000 steps by round |