From cf8fbdbfb994576b6f3278602c25e84795deac11 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 14 Apr 2012 20:18:16 +0200 Subject: digital: use 16bit speed --- digital/mimot/src/dirty/twi_proto.c | 34 ++++++++++++++++++---------------- 1 file changed, 18 insertions(+), 16 deletions(-) (limited to 'digital/mimot/src/dirty/twi_proto.c') diff --git a/digital/mimot/src/dirty/twi_proto.c b/digital/mimot/src/dirty/twi_proto.c index 5398815f..a61d3d6c 100644 --- a/digital/mimot/src/dirty/twi_proto.c +++ b/digital/mimot/src/dirty/twi_proto.c @@ -110,46 +110,48 @@ twi_proto_callback (u8 *buf, u8 size) /* Reset. */ utils_reset (); break; - case c ('b', 3): + case c ('b', 4): /* Move the aux0. * - w: new position. - * - b: speed. */ - cs_aux[0].speed.max = buf[4]; + * - w: speed. */ + cs_aux[0].speed.max = v8_to_v16 (buf[4], buf[5]); aux_traj_goto_start (&aux[0], v8_to_v16 (buf[2], buf[3])); break; case c ('c', 3): /* Move the aux1. * - w: new position. - * - b: speed. */ - cs_aux[1].speed.max = buf[4]; + * - w: speed. */ + cs_aux[1].speed.max = v8_to_v16 (buf[4], buf[5]); aux_traj_goto_start (&aux[1], v8_to_v16 (buf[2], buf[3])); break; - case c ('B', 5): + case c ('B', 6): /* Find the zero position. * - b: aux index. - * - b: speed. + * - w: speed. * - b: use switch. * - w: reset position. */ if (buf[2] < AC_ASSERV_AUX_NB) { - if (buf[4]) - aux_traj_find_zero_start (&aux[buf[2]], buf[3], - v8_to_v16 (buf[5], buf[6])); + if (buf[5]) + aux_traj_find_zero_start (&aux[buf[2]], + v8_to_v16 (buf[3], buf[4]), + v8_to_v16 (buf[6], buf[7])); else - aux_traj_find_limit_start (&aux[buf[2]], buf[3], - v8_to_v16 (buf[5], buf[6])); + aux_traj_find_limit_start (&aux[buf[2]], + v8_to_v16 (buf[3], buf[4]), + v8_to_v16 (buf[6], buf[7])); } else buf[0] = 0; break; - case c ('l', 4): + case c ('l', 5): /* Clamp. * - b: aux index. - * - b: speed. + * - w: speed. * - w: claming PWM. */ if (buf[2] < AC_ASSERV_AUX_NB) - aux_traj_clamp_start (&aux[buf[2]], buf[3], - v8_to_v16 (buf[4], buf[5])); + aux_traj_clamp_start (&aux[buf[2]], v8_to_v16 (buf[3], buf[4]), + v8_to_v16 (buf[5], buf[6])); else buf[0] = 0; break; -- cgit v1.2.3