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/twi_proto.c | 6 ++++++ 1 file changed, 6 insertions(+) (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 ffc55061..809f5112 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -170,6 +170,12 @@ twi_proto_callback (u8 *buf, u8 size) speed_aux0.max = buf[4]; aux_traj_goto_start (v8_to_v16 (buf[2], buf[3]), 0); break; + case c ('B', 1): + /* Find the zero position of the arm. + * - b: speed. */ + speed_aux0.max = buf[2]; + aux_traj_find_zero_start (0); + break; case c ('p', x): /* Set parameters. */ if (twi_proto_params (&buf[2], size - 2) != 0) -- cgit v1.2.3