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-rw-r--r--digital/io/src/asserv.c9
-rw-r--r--digital/io/src/top_cb.c2
2 files changed, 7 insertions, 4 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index 6f849054..0853a11b 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -503,7 +503,7 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward)
asserv_twi_send_command ('X', 9);
}
-/* Go to the wall (moving backward). */
+/* Go to the wall. */
void
asserv_go_to_the_wall (uint8_t backward)
{
@@ -517,8 +517,11 @@ asserv_go_to_the_wall (uint8_t backward)
void
asserv_go_to_distributor (void)
{
- /* Send the go the distributor command to the asserv board */
- asserv_twi_send_command ('F', 0);
+ /* Put direction and delay as parameters */
+ asserv_twi_buffer_param[0] = 0;
+ asserv_twi_buffer_param[1] = 25;
+ /* Send the go the wall command to the asserv board */
+ asserv_twi_send_command ('g', 2);
}
/* Move the arm. */
diff --git a/digital/io/src/top_cb.c b/digital/io/src/top_cb.c
index ce6d6db4..0530ae97 100644
--- a/digital/io/src/top_cb.c
+++ b/digital/io/src/top_cb.c
@@ -743,7 +743,7 @@ top__CLEAN_FRONT_OF_DISTRIBUTOR__move_fsm_succeed (void)
/* Open cylinder. */
cylinder_close_order = 0;
/* Fuck the distributor. */
- asserv_go_to_the_wall (0);
+ asserv_go_to_distributor ();
return top_next (CLEAN_FRONT_OF_DISTRIBUTOR, move_fsm_succeed);
}