summaryrefslogtreecommitdiff
path: root/n/asserv/src
diff options
context:
space:
mode:
Diffstat (limited to 'n/asserv/src')
-rw-r--r--n/asserv/src/asserv/main.c2
-rw-r--r--n/asserv/src/asserv/traj.c8
2 files changed, 5 insertions, 5 deletions
diff --git a/n/asserv/src/asserv/main.c b/n/asserv/src/asserv/main.c
index 54b9794..cc6fa2c 100644
--- a/n/asserv/src/asserv/main.c
+++ b/n/asserv/src/asserv/main.c
@@ -197,7 +197,7 @@ main_loop (void)
}
if (main_print_pin && !--main_print_pin_cpt)
{
- proto_send2b ('I', PINA, PINF);
+ proto_send2b ('I', PINA, PINF & 0xf);
main_print_pin_cpt = main_print_pin;
}
/* Misc. */
diff --git a/n/asserv/src/asserv/traj.c b/n/asserv/src/asserv/traj.c
index cfdbbc4..21f60a4 100644
--- a/n/asserv/src/asserv/traj.c
+++ b/n/asserv/src/asserv/traj.c
@@ -82,14 +82,14 @@ traj_holes (void)
else if (in & 1)
{
/* Left. */
- speed_theta_cons = speed / 2;
- speed_alpha_cons = speed / 2;
+ speed_theta_cons = 0;
+ speed_alpha_cons = speed;
}
else if (in & 2)
{
/* Right. */
- speed_theta_cons = speed / 2;
- speed_alpha_cons = -speed / 2;
+ speed_theta_cons = 0;
+ speed_alpha_cons = -speed;
}
else if (in & 8)
{