From b0e46d53dacdcc37dd4379c32fe886e5776f76c7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 23 Apr 2008 21:02:33 +0200 Subject: * digital/asserv/src/asserv: - added backward goto commands. --- digital/io/doc/proto_asserv.txt | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'digital/io/doc') diff --git a/digital/io/doc/proto_asserv.txt b/digital/io/doc/proto_asserv.txt index 8573c81e..2fffb618 100644 --- a/digital/io/doc/proto_asserv.txt +++ b/digital/io/doc/proto_asserv.txt @@ -77,12 +77,19 @@ This table describe the list of supported commands by the *asserv* card: | 'x' | Move | - x (3b) | Go to an absolute position | | | | - y (3b) | | +---------+-------+-----------------+------------------------------------------+ +| 'r' | Move | - x (3b) | Go to an absolute position, backward | +| | | - y (3b) | movement allowed | ++---------+-------+-----------------+------------------------------------------+ | 'y' | Move | - a (2b) | Go to an absolute angle | +---------+-------+-----------------+------------------------------------------+ | 'X' | Move | - x (3b) | Go to an absolute position, then an | | | | - y (3b) | absolute angle | | | | - a (2b) | | +---------+-------+-----------------+------------------------------------------+ +| 'R' | Move | - x (3b) | Go to an absolute position, then an | +| | | - y (3b) | absolute angle, backward movement | +| | | - a (2b) | allowed | ++---------+-------+-----------------+------------------------------------------+ | 'b' | Arm | - position (2b) | Move the arm to a desired position | | | | - speed (1b) | at a specific speed | | | | | - position: 5000 steps by round | -- cgit v1.2.3