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-rw-r--r--digital/io/doc/proto_asserv.txt3
-rw-r--r--digital/io/src/asserv.c4
2 files changed, 5 insertions, 2 deletions
diff --git a/digital/io/doc/proto_asserv.txt b/digital/io/doc/proto_asserv.txt
index 391950dd..e6e43c5b 100644
--- a/digital/io/doc/proto_asserv.txt
+++ b/digital/io/doc/proto_asserv.txt
@@ -70,7 +70,8 @@ This table describe the list of supported commands by the *asserv* card:
+---------+-------+-----------------+------------------------------------------+
| 'a' | Move | - angle (2b) | Angular move (0 <=> 0° ; 65536 <=> 360) |
+---------+-------+-----------------+------------------------------------------+
-| 'f' | Move | None | Go to the wall (backward movement) |
+| 'f' | Move | - direction (b) | Go to the wall |
+| | | | - direction: 0 = forward, 1 = backward |
+---------+-------+-----------------+------------------------------------------+
| 'F' | Move | None | Go to a distributor (forward movement) |
+---------+-------+-----------------+------------------------------------------+
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index a3175176..e6cbc1b4 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -455,8 +455,10 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a)
void
asserv_go_to_the_wall (void)
{
+ /* Put direction as parameters */
+ asserv_twi_buffer_param[0] = 1;
/* Send the go the wall command to the asserv board */
- asserv_twi_send_command ('f', 0);
+ asserv_twi_send_command ('f', 1);
}
/* Move forward to approach a ditributor. */