From 800e0f783b82824fdd3c3ef8ea25aed970555f24 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Thu, 24 Apr 2008 17:29:13 +0200 Subject: * digital/io/src - add goto an absolute position command over UART. --- digital/io/src/main.c | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/digital/io/src/main.c b/digital/io/src/main.c index c0699f61..99967b6e 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -324,7 +324,21 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) } } break; - + case c ('a', 9): + { + switch (args[0]) + { + case 'x': + /* Go to an absolute position (X,Y) in mm. + * - 4b: x; + * - 4b: y. + */ + asserv_goto (v8_to_v32 (args[1], args[2], args[3], args[4]), + v8_to_v32 (args[5], args[6], args[7], args[8])); + break; + } + } + break; default: /* Unknown commands */ proto_send0 ('?'); -- cgit v1.2.3