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Diffstat (limited to 'digital/ai/src/twi_master/mimot.c')
-rw-r--r--digital/ai/src/twi_master/mimot.c24
1 files changed, 12 insertions, 12 deletions
diff --git a/digital/ai/src/twi_master/mimot.c b/digital/ai/src/twi_master/mimot.c
index 6346f7b9..6663f81f 100644
--- a/digital/ai/src/twi_master/mimot.c
+++ b/digital/ai/src/twi_master/mimot.c
@@ -118,7 +118,7 @@ mimot_get_motor1_position (void)
void
mimot_reset (void)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'z';
twi_master_send_buffer (1);
}
@@ -126,7 +126,7 @@ mimot_reset (void)
void
mimot_set_motor0_position (uint16_t position)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'p';
buffer[1] = 'Y';
buffer[2] = 0;
@@ -138,7 +138,7 @@ mimot_set_motor0_position (uint16_t position)
void
mimot_set_motor1_position (uint16_t position)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'p';
buffer[1] = 'Y';
buffer[2] = 1;
@@ -150,7 +150,7 @@ mimot_set_motor1_position (uint16_t position)
void
mimot_move_motor0_absolute (uint16_t position, uint16_t speed)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'b';
buffer[1] = v16_to_v8 (position, 1);
buffer[2] = v16_to_v8 (position, 0);
@@ -162,7 +162,7 @@ mimot_move_motor0_absolute (uint16_t position, uint16_t speed)
void
mimot_move_motor1_absolute (uint16_t position, uint16_t speed)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'c';
buffer[1] = v16_to_v8 (position, 1);
buffer[2] = v16_to_v8 (position, 0);
@@ -187,7 +187,7 @@ void
mimot_motor0_find_zero (int16_t speed, uint8_t use_switch,
uint16_t reset_position)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'B';
buffer[1] = 0;
buffer[2] = v16_to_v8 (speed, 1);
@@ -202,7 +202,7 @@ void
mimot_motor1_find_zero (int16_t speed, uint8_t use_switch,
uint16_t reset_position)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'B';
buffer[1] = 1;
buffer[2] = v16_to_v8 (speed, 1);
@@ -216,7 +216,7 @@ mimot_motor1_find_zero (int16_t speed, uint8_t use_switch,
void
mimot_motor0_clamp (int16_t speed, int16_t pwm)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'l';
buffer[1] = 0;
buffer[2] = v16_to_v8 (speed, 1);
@@ -229,7 +229,7 @@ mimot_motor0_clamp (int16_t speed, int16_t pwm)
void
mimot_motor1_clamp (int16_t speed, int16_t pwm)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'l';
buffer[1] = 1;
buffer[2] = v16_to_v8 (speed, 1);
@@ -242,7 +242,7 @@ mimot_motor1_clamp (int16_t speed, int16_t pwm)
void
mimot_motor0_free (void)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'w';
buffer[1] = 0;
twi_master_send_buffer (2);
@@ -251,7 +251,7 @@ mimot_motor0_free (void)
void
mimot_motor1_free (void)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'w';
buffer[1] = 1;
twi_master_send_buffer (2);
@@ -260,7 +260,7 @@ mimot_motor1_free (void)
void
mimot_motor_output_set (uint8_t motor, int16_t pwm)
{
- uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
+ uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT);
buffer[0] = 'W';
buffer[1] = motor;
buffer[2] = v16_to_v8 (pwm, 1);