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authorNicolas Schodet2009-05-19 20:04:17 +0200
committerNicolas Schodet2009-05-19 20:04:17 +0200
commitdbb94e5c0018371838914f62bfa14a62a1ad922a (patch)
treebd7f0f1974d4aa9718590c167762b4c1c66f6ce8 /digital/asserv/src/asserv/main.c
parent1e8fee2bf4e410a64401e30e6cbca526fba20209 (diff)
* digital/asserv, digital/io:
- added backward movements.
Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c38
1 files changed, 8 insertions, 30 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index b34ed364..b53e6d18 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -398,27 +398,17 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
traj_gtd_start (args[0]);
break;
- case c ('x', 9):
+ case c ('x', 10):
/* Go to position.
* - d: x, f24.8.
* - d: y, f24.8.
+ * - b: backward (see traj.h).
* - b: sequence number. */
- if (args[8] == state_main.sequence)
- break;
- traj_goto_start (v8_to_v32 (args[0], args[1], args[2], args[3]),
- v8_to_v32 (args[4], args[5], args[6], args[7]),
- 0, args[8]);
- break;
- case c ('r', 9):
- /* Go to position, backward allowed.
- * - d: x, f24.8.
- * - d: y, f24.8.
- * - b: sequence number. */
- if (args[8] == state_main.sequence)
+ if (args[9] == state_main.sequence)
break;
traj_goto_start (v8_to_v32 (args[0], args[1], args[2], args[3]),
v8_to_v32 (args[4], args[5], args[6], args[7]),
- 1, args[8]);
+ args[8], args[9]);
break;
case c ('x', 3):
/* Go to angle.
@@ -429,31 +419,19 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
traj_goto_angle_start (v8_to_v32 (0, args[0], args[1], 0),
args[2]);
break;
- case c ('x', 11):
+ case c ('x', 12):
/* Go to position, then angle.
* - d: x, f24.8.
* - d: y, f24.8.
* - w: a, f0.16.
+ * - b: backward (see traj.h).
* - b: sequence number. */
- if (args[10] == state_main.sequence)
- break;
- traj_goto_xya_start (v8_to_v32 (args[0], args[1], args[2], args[3]),
- v8_to_v32 (args[4], args[5], args[6], args[7]),
- v8_to_v32 (0, args[8], args[9], 0),
- 0, args[10]);
- break;
- case c ('r', 11):
- /* Go to position, then angle, backward allowed.
- * - d: x, f24.8.
- * - d: y, f24.8.
- * - w: a, f0.16.
- * - b: sequence number. */
- if (args[10] == state_main.sequence)
+ if (args[11] == state_main.sequence)
break;
traj_goto_xya_start (v8_to_v32 (args[0], args[1], args[2], args[3]),
v8_to_v32 (args[4], args[5], args[6], args[7]),
v8_to_v32 (0, args[8], args[9], 0),
- 1, args[10]);
+ args[10], args[11]);
break;
case c ('y', 4):
/* Auxiliary go to position.