From c6367a657f9326cf590c721f4c9ab4b7fcdbc59b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 9 May 2009 01:37:00 +0200 Subject: * digital/asserv: - simplified find zero. --- digital/asserv/src/asserv/main.c | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) (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 983995f5..f0b7e5b3 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -455,7 +455,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) v8_to_v32 (0, args[8], args[9], 0), 1, args[10]); break; - case c ('y', 3): + case c ('y', 4): /* Auxiliary go to position. * - b: aux index. * - w: pos, i16. @@ -465,14 +465,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) break; aux_traj_goto_start (auxp, v8_to_v16 (args[1], args[2]), args[3]); break; - case c ('y', 1): + case c ('y', 3): /* Auxiliary find zero. * - b: aux index. + * - b: speed. * - b: sequence number. */ if (!auxp) { proto_send0 ('?'); return; } - if (args[1] == state->sequence) + if (args[2] == state->sequence) break; - aux_traj_find_zero_start (auxp, args[1]); + aux_traj_find_zero_start (auxp, args[1], args[2]); break; case c ('a', 3): /* Set all acknoledge. -- cgit v1.2.3