summaryrefslogtreecommitdiffhomepage
path: root/digital/asserv/src/asserv/main.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c9
1 files changed, 3 insertions, 6 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 19fe2056..9516fd43 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -239,18 +239,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
pos_reset (&pos_theta);
pos_reset (&pos_alpha);
state_main.mode = MODE_PWM;
- pwm_left = v8_to_v16 (args[0], args[1]);
- UTILS_BOUND (pwm_left, -PWM_MAX, PWM_MAX);
- pwm_right = v8_to_v16 (args[2], args[3]);
- UTILS_BOUND (pwm_right, -PWM_MAX, PWM_MAX);
+ PWM_SET (pwm_left, v8_to_v16 (args[0], args[1]));
+ PWM_SET (pwm_right, v8_to_v16 (args[2], args[3]));
break;
case c ('w', 2):
/* Set auxiliary pwm.
* - w: pwm. */
pos_reset (&pos_aux0);
state_aux0.mode = MODE_PWM;
- pwm_aux0 = v8_to_v16 (args[0], args[1]);
- UTILS_BOUND (pwm_aux0, -PWM_MAX, PWM_MAX);
+ PWM_SET (pwm_aux0, v8_to_v16 (args[0], args[1]));
break;
case c ('c', 4):
/* Add to position consign.