From 8b59056a98c466531ee77fee702d119ad393c902 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 10 May 2010 23:54:39 +0200 Subject: digital/io/src: add motor status report --- digital/io/src/main.c | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'digital') diff --git a/digital/io/src/main.c b/digital/io/src/main.c index bfa17068..ae0d0c3e 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -487,6 +487,19 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) /* Stop motor */ asserv_stop_motor (); break; + case 'S': + /* Status. */ + { + asserv_status_e move_status = asserv_move_cmd_status (); + asserv_status_e motor0_status = asserv_motor0_cmd_status (); + asserv_status_e motor1_status = asserv_motor1_cmd_status (); + asserv_status_e motorm0_status = mimot_motor0_cmd_status (); + asserv_status_e motorm1_status = mimot_motor1_cmd_status (); + proto_send2b ('S', move_status, (motor0_status << 0) + | (motor1_status << 2) | (motorm0_status << 4) + | (motorm1_status << 6)); + } + break; } } break; -- cgit v1.2.3