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-rw-r--r--digital/asserv/src/asserv/main.c7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 1e242a1d..5913c107 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -441,6 +441,12 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
* - d: angle. */
postrack_a = v8_to_v32 (args[1], args[2], args[3], args[4]);
break;
+ case c ('c', 5):
+ /* Set right counter correction factor.
+ * - d: factor (f8.24). */
+ counter_right_correction = v8_to_v32 (args[1], args[2],
+ args[3], args[4]);
+ break;
case c ('f', 3):
/* Set footing.
* - w: footing. */
@@ -525,6 +531,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
case c ('P', 1):
/* Print current settings. */
proto_send1b ('E', EEPROM_KEY);
+ proto_send1d ('c', counter_right_correction);
proto_send1w ('f', postrack_footing);
proto_send2w ('a', speed_theta.acc, speed_alpha.acc);
proto_send4b ('s', speed_theta.max, speed_alpha.max,