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-rw-r--r--n/asserv/src/main.c20
1 files changed, 9 insertions, 11 deletions
diff --git a/n/asserv/src/main.c b/n/asserv/src/main.c
index d8ede11..2d21804 100644
--- a/n/asserv/src/main.c
+++ b/n/asserv/src/main.c
@@ -26,6 +26,7 @@
#include <n/avr/rs232/rs232.h>
#include <n/avr/proto/proto.h>
#include <n/avr/utils/utils.h>
+#include <n/avr/utils/byte.h>
#include <avr/interrupt.h>
#include <avr/io.h>
@@ -181,10 +182,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Commands. */
case c ('g', 8):
motor_mode = 2;
- goto_x = (uint32_t) args[0] << 24 | (uint32_t) args[1] << 16
- | args[2] << 8 | args[3];
- goto_y = (uint32_t) args[4] << 24 | (uint32_t) args[5] << 16
- | args[6] << 8 | args[7];
+ goto_x = v8_to_v32 (args[0], args[1], args[2], args[3]);
+ goto_y = v8_to_v32 (args[4], args[5], args[6], args[7]);
break;
case c ('s', 0):
motor_mode = 1;
@@ -211,25 +210,24 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
case c ('w', 4):
speed_restart ();
motor_mode = 0;
- pwm_left = args[0] << 8 | args[1];
- pwm_right = args[2] << 8 | args[3];
+ pwm_left = v8_to_v16 (args[0], args[1]);
+ pwm_right = v8_to_v16 (args[2], args[3]);
break;
/* Params. */
case c ('e', 4):
- goto_eps = (uint32_t) args[0] << 24 | (uint32_t) args[1] << 16
- | args[2] << 8 | args[3];
+ goto_eps = v8_to_v32 (args[0], args[1], args[2], args[3]);
break;
case c ('a', 1):
speed_acc_cpt = speed_acc = args[0];
break;
case c ('p', 2):
- speed_kp = args[0] << 8 | args[1];
+ speed_kp = v8_to_v16 (args[0], args[1]);
break;
case c ('i', 2):
- speed_ki = args[0] << 8 | args[1];
+ speed_ki = v8_to_v16 (args[0], args[1]);
break;
case c ('f', 2):
- postrack_set_footing (args[0] << 8 | args[1]);
+ postrack_set_footing (v8_to_v16 (args[0], args[1]));
break;
/* Stats. */
case c ('C', 1):