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-rw-r--r--digital/io/src/asserv.c4
1 files changed, 2 insertions, 2 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index 3a22d0bc..062ca13a 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -460,7 +460,7 @@ asserv_goto_angle (int16_t angle)
/* Go to an absolute position and then an absolute angle. */
void
-asserv_goto_xya (uint32_t x, uint32_t y, int16_t a)
+asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward)
{
x = fixed_mul_f824 (x, asserv_scale_inv);
y = fixed_mul_f824 (y, asserv_scale_inv);
@@ -476,7 +476,7 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a)
asserv_twi_buffer_param[6] = v16_to_v8 (a, 1);
asserv_twi_buffer_param[7] = v16_to_v8 (a, 0);
/* No backward. */
- asserv_twi_buffer_param[8] = 0;
+ asserv_twi_buffer_param[8] = backward;
/* Send the got to an absolute position and them absolute angle command to
* the asserv board */
asserv_twi_send_command ('X', 9);