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Diffstat (limited to 'digital/asserv/src/asserv/twi_proto.c')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c8
1 files changed, 7 insertions, 1 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index dac59f93..c4fa1f0d 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -163,11 +163,17 @@ twi_proto_callback (u8 *buf, u8 size)
* - w: angle offset. */
traj_angle_offset_start (((int32_t) (int16_t) v8_to_v16 (buf[2], buf[3])) << 8, 0);
break;
- case c ('f', 0):
+ case c ('f', 1):
/* Go to the wall.
* - b: 0: forward, 1: backward. */
traj_ftw_start (buf[2], 0);
break;
+ case c ('g', 2):
+ /* Go to the wall using center sensor with delay.
+ * - b: 0: forward, 1: backward.
+ * - b: delay. */
+ traj_ftw_start_center (buf[2], buf[3], 0);
+ break;
case c ('F', 0):
/* Go to the dispenser. */
traj_gtd_start (0);