From 929dab13061cfe82cce6125dfb4adb40c3ef6639 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 18 Apr 2012 01:58:17 +0200 Subject: digital/{ai,mimot}: add raw output set --- digital/mimot/src/dirty/twi_proto.c | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'digital/mimot/src') diff --git a/digital/mimot/src/dirty/twi_proto.c b/digital/mimot/src/dirty/twi_proto.c index a61d3d6c..3ac4b8a4 100644 --- a/digital/mimot/src/dirty/twi_proto.c +++ b/digital/mimot/src/dirty/twi_proto.c @@ -167,6 +167,18 @@ twi_proto_callback (u8 *buf, u8 size) else buf[0] = 0; break; + case c ('W', 3): + /* Set motor output. + * - b: aux index. + * - w: value. */ + if (buf[2] < AC_ASSERV_AUX_NB) + { + output_set (&output_aux[buf[2]], v8_to_v16 (buf[3], buf[4])); + control_state_set_mode (&cs_aux[buf[2]].state, CS_MODE_NONE, 0); + } + else + buf[0] = 0; + break; case c ('p', x): /* Set parameters. */ if (twi_proto_params (&buf[2], size - 2) != 0) -- cgit v1.2.3