From 99f271d6ad074e2d592b48b50a325ee241cdbe34 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 9 Apr 2008 14:28:58 +0200 Subject: * digital/asserv/src/asserv: - first goto xy implementation. --- digital/asserv/src/asserv/twi_proto.c | 8 ++++++++ 1 file changed, 8 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 e977bf76..75a0a110 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -139,6 +139,14 @@ twi_proto_callback (u8 *buf, u8 size) /* Go to the dispenser. */ traj_gtd_start (0); break; + case c ('x', 0): + /* Go to position. + * - 3b: x position. + * - 3b: y position. */ + traj_goto_start (v8_to_v32 (buf[2], buf[3], buf[4], 0), + v8_to_v32 (buf[5], buf[6], buf[7], 0), + 0); + break; case c ('b', 3): /* Move the arm. * - w: new position. -- cgit v1.2.3