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Diffstat (limited to 'n/asserv/src/test_pwm.c')
-rw-r--r--n/asserv/src/test_pwm.c18
1 files changed, 10 insertions, 8 deletions
diff --git a/n/asserv/src/test_pwm.c b/n/asserv/src/test_pwm.c
index ee1be2a..96e2d81 100644
--- a/n/asserv/src/test_pwm.c
+++ b/n/asserv/src/test_pwm.c
@@ -1,8 +1,12 @@
/* test_pwm.c */
-/* {{{
+/* asserv - Position & speed motor control on a ATmega128. {{{
*
* Copyright (C) 2004 Nicolas Schodet
*
+ * Robot APB Team/Efrei 2005.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
@@ -17,12 +21,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
- * Contact :
- * Web: http://perso.efrei.fr/~schodet/
- * Email: <contact@ni.fr.eu.org>
* }}} */
-#include "pwm.h"
-
#include <n/avr/rs232/rs232.h>
#include <n/avr/proto/proto.h>
#include <avr/io.h>
@@ -30,21 +29,24 @@
/* +AutoDec */
/* -AutoDec */
+#include "pwm.c"
+
void
proto_callback (uint8_t c, uint8_t argc, proto_arg_t argv[])
{
switch (c | argc << 8)
{
case 'l' | 2 << 8:
- pwm_set_left (argv[0] << 8 | argv[1]);
+ pwm_left = argv[0] << 8 | argv[1];
break;
case 'r' | 2 << 8:
- pwm_set_right (argv[0] << 8 | argv[1]);
+ pwm_right = argv[0] << 8 | argv[1];
break;
default:
proto_send0 ('e');
return;
}
+ pwm_update ();
proto_send (c, argc, argv);
}