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authorNicolas Schodet2009-05-23 00:09:23 +0200
committerNicolas Schodet2009-05-23 00:09:23 +0200
commitd6647a90f4bfe59968cf0f94443335f2673a32f3 (patch)
tree7f51af2ed63cd149346b420928857974e561d903 /digital/asserv/src/asserv/main.c
parent8f3f3cea26f03d5c3979dd594ff02e7d6d49da54 (diff)
* digital/asserv, digital/io:
- added usage of center sensor.
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 b53e6d18..b980899e 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -391,6 +391,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
traj_ftw_start (args[0], args[1]);
break;
+ case c ('f', 3):
+ /* Go to the wall, using center with a delay.
+ * - b: 0: forward, 1: backward.
+ * - b: delay.
+ * - b: sequence number. */
+ if (args[1] == state_main.sequence)
+ break;
+ traj_ftw_start_center (args[0], args[1], args[2]);
+ break;
case c ('F', 1):
/* Go to the dispenser.
* - b: sequence number. */