From 19e614348483e09ddb2acca5fcf905ec0c582625 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 21 Apr 2008 00:30:41 +0200 Subject: * digital/asserv/src/asserv: - added find zero auxiliary command. --- digital/asserv/src/asserv/main.c | 9 +++++++++ 1 file changed, 9 insertions(+) (limited to 'digital/asserv/src/asserv/main.c') diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index 8be5373f..47b2af2f 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -137,6 +137,8 @@ main_loop (void) /* Compute trajectory. */ if (state_main.mode >= MODE_TRAJ) traj_update (); + if (state_aux0.mode >= MODE_TRAJ) + aux_traj_update (); /* Speed control. */ speed_update (); main_timer[3] = timer_read (); @@ -393,6 +395,13 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) break; aux_traj_goto_start (v8_to_v16 (args[0], args[1]), args[2]); break; + case c ('y', 1): + /* Auxiliary find zero. + * - b: sequence number. */ + if (args[0] == state_aux0.sequence) + break; + aux_traj_find_zero_start (args[0]); + break; case c ('a', 2): /* Set both acknoledge. * - b: main ack sequence number. -- cgit v1.2.3