From a0f115ece1275600e8e97f28bdd4c21eeb1650a5 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 19 May 2012 05:44:10 +0200 Subject: digital/asserv: add twi command to set acceleration --- digital/asserv/src/asserv/twi_proto.c | 9 +++++++++ 1 file changed, 9 insertions(+) (limited to 'digital/asserv/src/asserv') diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c index c9e8a1f4..cd79bf3e 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -313,6 +313,15 @@ twi_proto_params (u8 *buf, u8 size) cs_main.speed_alpha.slow = v8_to_v16 (buf[6], buf[7]); eat = 4; break; + case 'a': + /* Set acceleration. + * - w: theta acc. + * - w: alpha acc. */ + if (size < 4) + return 1; + cs_main.speed_theta.acc_f = v8_to_v16 (buf[0], buf[1]); + cs_main.speed_alpha.acc_f = v8_to_v16 (buf[2], buf[3]); + break; default: return 1; } -- cgit v1.2.3