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-rw-r--r--digital/io/src/asserv.c14
1 files changed, 14 insertions, 0 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index e6cbc1b4..c9594d3d 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -661,3 +661,17 @@ asserv_set_scale (uint32_t scale)
asserv_scale_inv = fixed_div_f824 (1L << 24, scale);
}
+void
+asserv_arm_zero_position (void)
+{
+ asserv_twi_buffer_param[0] = ASSERV_ARM_SPEED_DEFAULT;
+ asserv_twi_send_command ('B', 1);
+}
+
+void
+asserv_elevator_zero_position (void)
+{
+ asserv_twi_buffer_param[0] = ASSERV_ELVT_SPEED_DEFAULT;
+ asserv_twi_send_command ('C', 1);
+}
+