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-rw-r--r--n/asserv/src/main.c12
1 files changed, 10 insertions, 2 deletions
diff --git a/n/asserv/src/main.c b/n/asserv/src/main.c
index eec0699..1e77b7e 100644
--- a/n/asserv/src/main.c
+++ b/n/asserv/src/main.c
@@ -212,8 +212,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
reset ();
break;
/* Commands. */
- case c ('t', 0):
- motor_taz = 1;
+ case c ('t', 1):
+ motor_taz = args[0];
break;
case c ('l', 2):
/* Linear move.
@@ -368,6 +368,14 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Set maximum speed for automatic movements. */
speed_max = args[1];
break;
+ case c ('w', 3):
+ /* Set PWM direction.
+ * - b: inverse left direction.
+ * - b: inverse right direction. */
+ pwm_dir = 0;
+ if (args[1]) pwm_dir |= _BV (PWM_LEFT_DIR);
+ if (args[2]) pwm_dir |= _BV (PWM_RIGHT_DIR);
+ break;
default:
proto_send0 ('?');
return;