From 0a60b83874961ceca69420eda184b78f090ffb16 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 May 2012 11:48:05 +0200 Subject: digital/asserv/src/asserv: add stop traj mode --- digital/asserv/src/asserv/twi_proto.c | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) (limited to 'digital/asserv/src/asserv/twi_proto.c') diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c index 7c649e1c..c9e8a1f4 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -138,9 +138,7 @@ twi_proto_callback (u8 *buf, u8 size) break; case c ('s', 0): /* Stop (set zero speed). */ - speed_control_set_speed (&cs_main.speed_theta, 0); - speed_control_set_speed (&cs_main.speed_alpha, 0); - control_state_set_mode (&cs_main.state, CS_MODE_SPEED_CONTROL, 0); + traj_stop_start (); break; case c ('l', 3): /* Set linear speed controlled position consign. -- cgit v1.2.3