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authorNicolas Schodet2008-03-25 23:04:07 +0100
committerNicolas Schodet2008-03-25 23:04:07 +0100
commit1ea652e0d5185aee5ca60182302d7bb2d4056b46 (patch)
treea7a7b538b534a55c8f796448ffa72512d659e297 /digital/asserv/src/asserv/main.c
parent5b4cd3acddcf2ef7ad5c383fb93a0c27718f4da3 (diff)
* digital/asserv/src/asserv:
- better blocked state handling, now deactivate all motor control on blocking.
Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c7
1 files changed, 0 insertions, 7 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 38a2e9f8..e96ebf90 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -326,18 +326,11 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Set both acknoledge.
* - b: main ack sequence number.
* - b: auxiliary ack sequence number. */
- if (state_aux0.blocked && args[1] == state_aux0.finished)
- pos_reset (&pos_aux0);
state_acknowledge (&state_aux0, args[1]);
/* no break; */
case c ('a', 1):
/* Set main acknoledge.
* - b: main ack sequence number. */
- if (state_main.blocked && args[0] == state_main.finished)
- {
- pos_reset (&pos_theta);
- pos_reset (&pos_alpha);
- }
state_acknowledge (&state_main, args[0]);
break;
/* Stats.