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-rw-r--r--digital/mimot/src/asserv/models.host.c2
-rw-r--r--digital/mimot/src/dirty/twi_proto.c7
2 files changed, 5 insertions, 4 deletions
diff --git a/digital/mimot/src/asserv/models.host.c b/digital/mimot/src/asserv/models.host.c
index e97d3958..ab55c341 100644
--- a/digital/mimot/src/asserv/models.host.c
+++ b/digital/mimot/src/asserv/models.host.c
@@ -75,7 +75,7 @@ static const struct robot_t guybrush_robot =
* table. */
simu_table_test_guybrush,
/** Robot corners, from front left, then clockwise. */
- { { 150, 171.5 }, { 150, -171.5 }, { -134, -121.5 }, { -134, 121.5 },
+ { { 150, 171.5 }, { 150, -171.5 }, { -135, -121.5 }, { -135, 121.5 },
{ 150, 0 } },
/** Initialisation function. */
NULL,
diff --git a/digital/mimot/src/dirty/twi_proto.c b/digital/mimot/src/dirty/twi_proto.c
index 66cdb5aa..2de2b1a1 100644
--- a/digital/mimot/src/dirty/twi_proto.c
+++ b/digital/mimot/src/dirty/twi_proto.c
@@ -156,13 +156,14 @@ twi_proto_callback (u8 *buf, u8 size)
else
buf[0] = 0;
break;
- case c ('w', 1):
+ case c ('w', 2):
/* Free motor.
- * - b: aux index. */
+ * - b: aux index.
+ * - b: brake. */
if (buf[2] < AC_ASSERV_AUX_NB)
{
output_set (&output_aux[buf[2]], 0);
- output_brake (&output_aux[buf[2]], 0);
+ output_brake (&output_aux[buf[2]], buf[3]);
control_state_set_mode (&cs_aux[buf[2]].state, CS_MODE_NONE, 0);
}
else