From c156f325a99960e8e21cc1a196fa045eeab3a2da Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 10 May 2010 23:54:59 +0200 Subject: digital/asserv/src: use new find zero mode for aux1 --- digital/asserv/src/asserv/main.c | 5 ++++- digital/asserv/src/asserv/twi_proto.c | 4 ++-- 2 files changed, 6 insertions(+), 3 deletions(-) (limited to 'digital/asserv') diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index 8660854e..2d53e2fa 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -460,7 +460,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) if (!auxp) { proto_send0 ('?'); return; } if (args[2] == state->sequence) break; - aux_traj_find_limit_start (auxp, args[1], args[2]); + if (args[0] == 0) + aux_traj_find_limit_start (auxp, args[1], args[2]); + else + aux_traj_find_zero_reverse_start (auxp, args[1], args[2]); break; case c ('a', 3): /* Set all acknoledge. diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c index 3602a1b6..1be7dd92 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -223,9 +223,9 @@ twi_proto_callback (u8 *buf, u8 size) aux_traj_goto_start (&aux[1], v8_to_v16 (buf[2], buf[3]), 0); break; case c ('C', 1): - /* Find the aux0 zero position. + /* Find the aux1 zero position. * - b: speed. */ - aux_traj_find_limit_start (&aux[1], buf[2], 0); + aux_traj_find_zero_reverse_start (&aux[1], buf[2], 0); break; case c ('p', x): /* Set parameters. */ -- cgit v1.2.3