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authorschodet2005-02-26 20:16:03 +0000
committerschodet2005-02-26 20:16:03 +0000
commit26e64bc1bb5786e4e3638382ae1a11f0fc011374 (patch)
tree17216f64a894e592e3ea9c87b7f516a46c108062 /n/asserv/src/main.c
parent55f7ee85cfb541ed3943232ce02a44faa644fe5d (diff)
Ajout de goto_eps
Diffstat (limited to 'n/asserv/src/main.c')
-rw-r--r--n/asserv/src/main.c8
1 files changed, 6 insertions, 2 deletions
diff --git a/n/asserv/src/main.c b/n/asserv/src/main.c
index bac4cfd..9033372 100644
--- a/n/asserv/src/main.c
+++ b/n/asserv/src/main.c
@@ -146,8 +146,8 @@ main_loop (void)
}
if (motor_stat_timer && !--motor_stat_timer_cpt)
{
- proto_send4b ('T', motor_timer_3, motor_timer_2, motor_timer_1,
- motor_timer_0);
+ proto_send5b ('T', motor_timer_4, motor_timer_3, motor_timer_2,
+ motor_timer_1, motor_timer_0);
motor_stat_timer_cpt = motor_stat_timer;
}
/* Misc. */
@@ -205,6 +205,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
pwm_left = args[0] << 8 | args[1];
pwm_right = args[2] << 8 | args[3];
break;
+ case c ('e', 4):
+ goto_eps = (uint32_t) args[0] << 24 | (uint32_t) args[1] << 16
+ | args[2] << 8 | args[3];
+ break;
case c ('a', 1):
speed_acc_cpt = speed_acc = args[0];
break;