From 175831d2c1a3c52305431cc824cf233286a87eb4 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 9 Apr 2008 14:28:24 +0200 Subject: * digital/asserv/src/asserv: - added proto 'l' command (sick of typing the long 's'). --- digital/asserv/src/asserv/main.c | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index 3a0cf7cb..c4e601df 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -312,6 +312,19 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) speed_aux0.pos_cons += v8_to_v32 (args[0], args[1], args[2], args[3]); state_start (&state_aux0, args[4]); break; + case c ('l', 5): + /* Set linear speed controlled position consign. + * - d: consign offset. + * - b: sequence number. */ + if (args[4] == state_main.sequence) + break; + state_main.mode = MODE_SPEED; + speed_theta.use_pos = speed_alpha.use_pos = 1; + speed_theta.pos_cons = pos_theta.cons; + speed_theta.pos_cons += v8_to_v32 (args[0], args[1], args[2], args[3]); + speed_alpha.pos_cons = pos_alpha.cons; + state_start (&state_main, args[8]); + break; case c ('a', 5): /* Set angular speed controlled position consign. * - d: angle offset. -- cgit v1.2.3