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Diffstat (limited to 'digital/asserv/src/asserv/twi_proto.c')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c11
1 files changed, 4 insertions, 7 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index c7564766..ffc55061 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -38,6 +38,7 @@
#include "speed.h"
#include "postrack.h"
#include "traj.h"
+#include "aux.h"
struct twi_proto_t
{
@@ -83,8 +84,8 @@ twi_proto_update (void)
status[7] = v32_to_v8 (postrack_y, 1);
status[8] = v32_to_v8 (postrack_a, 2);
status[9] = v32_to_v8 (postrack_a, 1);
- status[10] = v16_to_v8 (pos_aux0.cons, 1);
- status[11] = v16_to_v8 (pos_aux0.cons, 0);
+ status[10] = v16_to_v8 (aux0.pos, 1);
+ status[11] = v16_to_v8 (aux0.pos, 0);
twi_sl_update (status, sizeof (status));
}
@@ -166,12 +167,8 @@ twi_proto_callback (u8 *buf, u8 size)
/* Move the arm.
* - w: new position.
* - b: speed. */
- speed_aux0.use_pos = 1;
- speed_aux0.pos_cons = pos_aux0.cons;
- speed_aux0.pos_cons += v8_to_v32 (0, 0, buf[2], buf[3]);
speed_aux0.max = buf[4];
- speed_aux0.slow = buf[4];
- state_start (&state_aux0, MODE_SPEED, 0);
+ aux_traj_goto_start (v8_to_v16 (buf[2], buf[3]), 0);
break;
case c ('p', x):
/* Set parameters. */