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authorNicolas Schodet2008-04-21 00:30:41 +0200
committerNicolas Schodet2008-04-21 00:30:41 +0200
commit19e614348483e09ddb2acca5fcf905ec0c582625 (patch)
tree5cf25e494f2b0bf5cf3c693b1904b3d8f5651ead /digital/asserv/src/asserv/main.c
parent557fdd8e9bea25a1f5d81d93466dac2abfef6cd3 (diff)
* digital/asserv/src/asserv:
- added find zero auxiliary command.
Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c9
1 files changed, 9 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 8be5373f..47b2af2f 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -137,6 +137,8 @@ main_loop (void)
/* Compute trajectory. */
if (state_main.mode >= MODE_TRAJ)
traj_update ();
+ if (state_aux0.mode >= MODE_TRAJ)
+ aux_traj_update ();
/* Speed control. */
speed_update ();
main_timer[3] = timer_read ();
@@ -393,6 +395,13 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
aux_traj_goto_start (v8_to_v16 (args[0], args[1]), args[2]);
break;
+ case c ('y', 1):
+ /* Auxiliary find zero.
+ * - b: sequence number. */
+ if (args[0] == state_aux0.sequence)
+ break;
+ aux_traj_find_zero_start (args[0]);
+ break;
case c ('a', 2):
/* Set both acknoledge.
* - b: main ack sequence number.