From 89151bed20a5d9073bb304057041b2453eec16bb Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 17 Apr 2005 11:09:18 +0000 Subject: Plein de truc de la pré coupe. --- n/asserv/src/main.c | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'n/asserv/src/main.c') 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). */ -- cgit v1.2.3