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-rw-r--r--i/marvin/src/asserv/test_asserv.cc13
1 files changed, 7 insertions, 6 deletions
diff --git a/i/marvin/src/asserv/test_asserv.cc b/i/marvin/src/asserv/test_asserv.cc
index 81a4ba9..2796e33 100644
--- a/i/marvin/src/asserv/test_asserv.cc
+++ b/i/marvin/src/asserv/test_asserv.cc
@@ -45,7 +45,7 @@ class TestAsserv : public Tester, public Asserv::Receiver
inline void nextSeq (void)
{
seq_++;
- if (seq_ > 250)
+ if (seq_ > 100)
seq_ = 1;
}
/// Speed controlled position consign offset, handle seq.
@@ -142,11 +142,12 @@ class TestAsserv : public Tester, public Asserv::Receiver
}
void receiveAck (int seq)
{
- if (seq != seq_)
- return;
- std::cout << "ack received" << std::endl;
- asserv_.ack (seq);
- ok_ = true;
+ if ((seq & 0x7f) == seq_)
+ {
+ std::cout << "ack received" << std::endl;
+ asserv_.ack (seq);
+ ok_ = true;
+ }
}
void receiveCounterStat (int l, int r)
{