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authorNicolas Schodet2008-04-21 00:30:41 +0200
committerNicolas Schodet2008-04-21 00:30:41 +0200
commit19e614348483e09ddb2acca5fcf905ec0c582625 (patch)
tree5cf25e494f2b0bf5cf3c693b1904b3d8f5651ead /digital/asserv/src/asserv/twi_proto.c
parent557fdd8e9bea25a1f5d81d93466dac2abfef6cd3 (diff)
* digital/asserv/src/asserv:
- added find zero auxiliary command.
Diffstat (limited to 'digital/asserv/src/asserv/twi_proto.c')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index ffc55061..809f5112 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -170,6 +170,12 @@ twi_proto_callback (u8 *buf, u8 size)
speed_aux0.max = buf[4];
aux_traj_goto_start (v8_to_v16 (buf[2], buf[3]), 0);
break;
+ case c ('B', 1):
+ /* Find the zero position of the arm.
+ * - b: speed. */
+ speed_aux0.max = buf[2];
+ aux_traj_find_zero_start (0);
+ break;
case c ('p', x):
/* Set parameters. */
if (twi_proto_params (&buf[2], size - 2) != 0)