From 1ae19c087d9a6814622cb1abf9ffe34f1e8c5f55 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 12 Apr 2012 01:12:34 +0200 Subject: digital/mimot/src/dirty: add brake control --- digital/mimot/src/dirty/main.c | 9 +++++++++ digital/mimot/src/dirty/twi_proto.c | 1 + 2 files changed, 10 insertions(+) (limited to 'digital') diff --git a/digital/mimot/src/dirty/main.c b/digital/mimot/src/dirty/main.c index ace9864b..af61a5a3 100644 --- a/digital/mimot/src/dirty/main.c +++ b/digital/mimot/src/dirty/main.c @@ -224,6 +224,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) output_set (output, v8_to_v16 (args[1], args[2])); control_state_set_mode (state, CS_MODE_NONE, 0); break; + case c ('b', 2): + /* Set brake and set zero auxiliary pwm. + * - b: aux index. + * - b: brake (1) or not (0). */ + if (!auxp) { proto_send0 ('?'); return; } + output_brake (output, args[1]); + output_set (output, 0); + control_state_set_mode (state, CS_MODE_NONE, 0); + break; case c ('c', 3): /* Add to auxiliary position consign. * - b: aux index. diff --git a/digital/mimot/src/dirty/twi_proto.c b/digital/mimot/src/dirty/twi_proto.c index e5ce353d..5398815f 100644 --- a/digital/mimot/src/dirty/twi_proto.c +++ b/digital/mimot/src/dirty/twi_proto.c @@ -159,6 +159,7 @@ twi_proto_callback (u8 *buf, u8 size) if (buf[2] < AC_ASSERV_AUX_NB) { output_set (&output_aux[buf[2]], 0); + output_brake (&output_aux[buf[2]], 0); control_state_set_mode (&cs_aux[buf[2]].state, CS_MODE_NONE, 0); } else -- cgit v1.2.3