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-rw-r--r--i/marvin/src/asserv/asserv.cc7
1 files changed, 7 insertions, 0 deletions
diff --git a/i/marvin/src/asserv/asserv.cc b/i/marvin/src/asserv/asserv.cc
index f5321fc..5726dbf 100644
--- a/i/marvin/src/asserv/asserv.cc
+++ b/i/marvin/src/asserv/asserv.cc
@@ -129,6 +129,13 @@ Asserv::speedTo (double t, double a, int seq)
proto_.send ('s', "ddb", mmToStep (t), mmToStep (a), seq);
}
+/// Speed controlled angle consign offset.
+void
+Asserv::speedAngle (double a, int seq)
+{
+ proto_.send ('s', "ddb", 0, radToStep (a), seq);
+}
+
/// Find a hole.
void
Asserv::findHole (int seq)