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-rw-r--r--digital/mimot/src/dirty/main.c9
1 files changed, 9 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/main.c b/digital/mimot/src/dirty/main.c
index ace9864b..af61a5a3 100644
--- a/digital/mimot/src/dirty/main.c
+++ b/digital/mimot/src/dirty/main.c
@@ -224,6 +224,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
output_set (output, v8_to_v16 (args[1], args[2]));
control_state_set_mode (state, CS_MODE_NONE, 0);
break;
+ case c ('b', 2):
+ /* Set brake and set zero auxiliary pwm.
+ * - b: aux index.
+ * - b: brake (1) or not (0). */
+ if (!auxp) { proto_send0 ('?'); return; }
+ output_brake (output, args[1]);
+ output_set (output, 0);
+ control_state_set_mode (state, CS_MODE_NONE, 0);
+ break;
case c ('c', 3):
/* Add to auxiliary position consign.
* - b: aux index.