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Diffstat (limited to 'n/asserv/src/main.c')
-rw-r--r--n/asserv/src/main.c12
1 files changed, 12 insertions, 0 deletions
diff --git a/n/asserv/src/main.c b/n/asserv/src/main.c
index 1715d5f..1513876 100644
--- a/n/asserv/src/main.c
+++ b/n/asserv/src/main.c
@@ -38,6 +38,9 @@
#include "postrack.c"
#include "goto.c"
+/** Use Taz. */
+uint8_t motor_taz;
+
/** Motor mode :
* 0 - pwm setup.
* 1 - speed control.
@@ -77,6 +80,8 @@ uint16_t motor_sharps[3];
uint8_t motor_timer_0, motor_timer_1, motor_timer_2, motor_timer_3,
motor_timer_4;
+#include "taz.c"
+
/* +AutoDec */
/* Main loop. */
@@ -97,6 +102,7 @@ main (void)
postrack_init ();
rs232_init ();
twi_master_init ();
+ taz_init ();
proto_send0 ('z');
sei ();
main_loop ();
@@ -117,6 +123,9 @@ main_loop (void)
/* Position tracking. */
postrack_update ();
motor_timer_3 = timer_read ();
+ /* Taz! */
+ if (motor_taz)
+ taz_update ();
/* Position control. */
if (motor_mode >= 2)
{
@@ -206,6 +215,9 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
reset ();
break;
/* Commands. */
+ case c ('t', 0):
+ motor_taz = 1;
+ break;
case c ('l', 2):
/* Linear move.
* - w: distance (negative to go backward). */