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-rw-r--r--i/chuck/src/motor/motor.cc9
-rw-r--r--i/chuck/src/motor/motor.hh1
-rw-r--r--i/chuck/src/motor/test_motor.cc2
3 files changed, 12 insertions, 0 deletions
diff --git a/i/chuck/src/motor/motor.cc b/i/chuck/src/motor/motor.cc
index 78fc8b6..8134d14 100644
--- a/i/chuck/src/motor/motor.cc
+++ b/i/chuck/src/motor/motor.cc
@@ -190,3 +190,12 @@ Motor::receiveInPort (unsigned int port)
{
}
+void
+Motor::fuckTheWall (void)
+{
+ nextSeq ();
+ finish_ = false;
+ blocked_ = false;
+ asserv_.fuckTheWall (seq_);
+}
+
diff --git a/i/chuck/src/motor/motor.hh b/i/chuck/src/motor/motor.hh
index 4289201..7727a34 100644
--- a/i/chuck/src/motor/motor.hh
+++ b/i/chuck/src/motor/motor.hh
@@ -71,6 +71,7 @@ class Motor : public Asserv::Receiver
void getPosition(double & x, double & y, double & a) const;
/// DO the super Crénaux
bool docreno(void);
+ void fuckTheWall (void);
private:
diff --git a/i/chuck/src/motor/test_motor.cc b/i/chuck/src/motor/test_motor.cc
index 760dfd6..c2b6f77 100644
--- a/i/chuck/src/motor/test_motor.cc
+++ b/i/chuck/src/motor/test_motor.cc
@@ -72,6 +72,8 @@ class TestMotor : public Tester
"rotate round axis center");
i.add ("findHole", Interpreter::memFunc (motor_, &Motor::findHole),
"findHole\nfind a hole");
+ i.add ("fuckTheWall", Interpreter::memFunc (motor_, &Motor::fuckTheWall),
+ "fuckTheWall\nFuck the wall !");
i.add ("stop", Interpreter::memFunc (motor_, &Motor::stop),
"stop\nguess what");
i.add ("_postcall",