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Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c8
1 files changed, 4 insertions, 4 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 1ba1f956..f6e07126 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -110,6 +110,7 @@ main (int argc, char **argv)
postrack_init ();
speed_init ();
traj_init ();
+ aux_init ();
eeprom_read_params ();
proto_send0 ('z');
sei ();
@@ -139,8 +140,7 @@ main_loop (void)
/* Compute trajectory. */
if (state_main.mode >= MODE_TRAJ)
traj_update ();
- if (state_aux0.mode >= MODE_TRAJ)
- aux_traj_update ();
+ aux_traj_update ();
/* Speed control. */
speed_update ();
main_timer[3] = timer_read ();
@@ -416,14 +416,14 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
* - b: sequence number. */
if (args[2] == state_aux0.sequence)
break;
- aux_traj_goto_start (v8_to_v16 (args[0], args[1]), args[2]);
+ aux_traj_goto_start (&aux0, v8_to_v16 (args[0], args[1]), args[2]);
break;
case c ('y', 1):
/* Auxiliary find zero.
* - b: sequence number. */
if (args[0] == state_aux0.sequence)
break;
- aux_traj_find_zero_start (args[0]);
+ aux_traj_find_zero_start (&aux0, args[0]);
break;
case c ('a', 2):
/* Set both acknoledge.