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Diffstat (limited to 'digital/mimot/src/dirty/twi_proto.c')
-rw-r--r--digital/mimot/src/dirty/twi_proto.c11
1 files changed, 11 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/twi_proto.c b/digital/mimot/src/dirty/twi_proto.c
index 37c1b64f..a6894109 100644
--- a/digital/mimot/src/dirty/twi_proto.c
+++ b/digital/mimot/src/dirty/twi_proto.c
@@ -139,6 +139,17 @@ twi_proto_callback (u8 *buf, u8 size)
* - b: speed. */
aux_traj_find_limit_start (&aux[1], buf[2], 0);
break;
+ case c ('l', 4):
+ /* Clamp.
+ * - b: aux index.
+ * - b: speed.
+ * - w: claming PWM. */
+ if (buf[2] < AC_ASSERV_AUX_NB)
+ aux_traj_clamp_start (&aux[buf[2]], buf[3],
+ v8_to_v16 (buf[4], buf[5]), 0);
+ else
+ buf[0] = 0;
+ break;
case c ('p', x):
/* Set parameters. */
if (twi_proto_params (&buf[2], size - 2) != 0)