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authorNicolas Schodet2008-04-05 11:38:48 +0200
committerNicolas Schodet2008-04-05 11:38:48 +0200
commite668c747f1e5787b4cb8ed2627abbc975d75eff2 (patch)
treeaa9a390f9fdfed24f2ec2e7ec00617c5fa5d2916 /digital/asserv/src/asserv/main.c
parent8c570ab124d33abbf4d4798fbbcb04ab24b98998 (diff)
* digital/asserv/src/asserv:
- angle offset clean up. - added angle offset proto 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 e96ebf90..99854d77 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -312,6 +312,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
speed_aux0.pos_cons += v8_to_v32 (args[0], args[1], args[2], args[3]);
state_start (&state_aux0, args[4]);
break;
+ case c ('a', 5):
+ /* Set angular speed controlled position consign.
+ * - d: angle offset.
+ * - b: sequence number. */
+ if (args[4] == state_main.sequence)
+ break;
+ traj_angle_offset_start (v8_to_v32 (args[0], args[1], args[2],
+ args[3]), 0);
+ break;
case c ('f', 1):
/* Go to the wall.
* - b: sequence number. */