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Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c7
1 files changed, 6 insertions, 1 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 9516fd43..2ea3d95d 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -108,6 +108,7 @@ main (int argc, char **argv)
uart0_init ();
twi_proto_init ();
postrack_init ();
+ traj_init ();
eeprom_read_params ();
proto_send0 ('z');
sei ();
@@ -583,6 +584,9 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
traj_eps = v8_to_v16 (args[1], args[2]);
traj_aeps = v8_to_v16 (args[3], args[4]);
break;
+ case c ('l', 3):
+ traj_set_angle_limit (v8_to_v16 (args[1], args[2]));
+ break;
case c ('w', 2):
/* Set PWM direction.
* - b: bits: 0000[aux0][right][left]. */
@@ -616,7 +620,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
proto_send1w ('I', pos_i_sat);
proto_send1w ('D', pos_d_sat);
proto_send1w ('b', pos_blocked);
- proto_send1w ('e', traj_eps);
+ proto_send2w ('e', traj_eps, traj_aeps);
+ proto_send1w ('l', traj_angle_limit);
proto_send1b ('w', pwm_reverse);
break;
default: