From 66c17635b2c83c68544211f572f75334c8e8358b Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 13 Mar 2005 20:40:13 +0000 Subject: Utilisation de utils/byte. --- n/asserv/src/main.c | 20 +++++++++----------- 1 file changed, 9 insertions(+), 11 deletions(-) (limited to 'n') 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 #include #include +#include #include #include @@ -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): -- cgit v1.2.3