From 2781ad249062dac90dd5b86da6b2d54bfa597e7e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 10 May 2010 08:38:26 +0200 Subject: digital/mimot: add clamp command --- digital/mimot/src/dirty/main.c | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'digital/mimot/src/dirty/main.c') diff --git a/digital/mimot/src/dirty/main.c b/digital/mimot/src/dirty/main.c index d826dd98..b3d93aa0 100644 --- a/digital/mimot/src/dirty/main.c +++ b/digital/mimot/src/dirty/main.c @@ -275,6 +275,18 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) break; aux_traj_goto_start (auxp, v8_to_v16 (args[1], args[2]), args[3]); break; + case c ('y', 5): + /* Auxiliary clamp. + * - b: aux index. + * - b: speed. + * - w: clamping PWM. + * - b: sequence number. */ + if (!auxp) { proto_send0 ('?'); return; } + if (args[4] == state->sequence) + break; + aux_traj_clamp_start (auxp, args[1], v8_to_v16 (args[2], args[3]), + args[4]); + break; case c ('y', 3): /* Auxiliary find zero. * - b: aux index. -- cgit v1.2.3