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authorNicolas Schodet2009-05-07 22:39:46 +0200
committerNicolas Schodet2009-05-07 22:39:46 +0200
commite5955adc9c33cee7d2fdda723fb02a2af5e612be (patch)
tree55f63d8ea3ae235d09b15d75fea685bedac85c20 /digital/asserv/src/asserv/main.c
parent362824bd00aad8e470baceef83f1c7b24dec6656 (diff)
* digital/asserv:
- added forward go to the wall. - use defines for contacts.
Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c7
1 files changed, 4 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 527b1940..983995f5 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -383,12 +383,13 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
speed->pos_cons += v8_to_v32 (args[1], args[2], args[3], args[4]);
state_start (state, MODE_SPEED, args[5]);
break;
- case c ('f', 1):
+ case c ('f', 2):
/* Go to the wall.
+ * - b: 0: forward, 1: backward.
* - b: sequence number. */
- if (args[0] == state_main.sequence)
+ if (args[1] == state_main.sequence)
break;
- traj_ftw_start (args[0]);
+ traj_ftw_start (args[0], args[1]);
break;
case c ('F', 1):
/* Go to the dispenser.