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authorNicolas Schodet2009-03-30 00:20:05 +0200
committerNicolas Schodet2009-03-30 00:20:05 +0200
commit2e0727532fdc1e9eb5b72188182c7a8a7c4ab3fc (patch)
treedd1b004f7cf5f06e18c70785439a4533e59a0fa1 /digital/asserv/src/asserv/main.c
parentca537782ccf301aa5dafe91bbba2722d039226db (diff)
* digital/asserv/src/asserv:
- use a structure for PWM state.
Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c12
1 files changed, 6 insertions, 6 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index db3064da..1ba1f956 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -193,7 +193,7 @@ main_loop (void)
#endif /* HOST */
if (main_stat_pwm && !--main_stat_pwm_cpt)
{
- proto_send3w ('W', pwm_left, pwm_right, pwm_aux0);
+ proto_send3w ('W', pwm_left.cur, pwm_right.cur, pwm_aux0.cur);
main_stat_pwm_cpt = main_stat_pwm;
}
if (main_stat_timer && !--main_stat_timer_cpt)
@@ -231,8 +231,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
pos_reset (&pos_theta);
pos_reset (&pos_alpha);
state_main.mode = MODE_PWM;
- pwm_left = 0;
- pwm_right = 0;
+ pwm_set (&pwm_left, 0);
+ pwm_set (&pwm_right, 0);
break;
case c ('w', 4):
/* Set pwm.
@@ -241,15 +241,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
pos_reset (&pos_theta);
pos_reset (&pos_alpha);
state_main.mode = MODE_PWM;
- PWM_SET (pwm_left, v8_to_v16 (args[0], args[1]));
- PWM_SET (pwm_right, v8_to_v16 (args[2], args[3]));
+ pwm_set (&pwm_left, v8_to_v16 (args[0], args[1]));
+ pwm_set (&pwm_right, v8_to_v16 (args[2], args[3]));
break;
case c ('w', 2):
/* Set auxiliary pwm.
* - w: pwm. */
pos_reset (&pos_aux0);
state_aux0.mode = MODE_PWM;
- PWM_SET (pwm_aux0, v8_to_v16 (args[0], args[1]));
+ pwm_set (&pwm_aux0, v8_to_v16 (args[0], args[1]));
break;
case c ('c', 4):
/* Add to position consign.