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authorNicolas Schodet2008-04-17 23:52:08 +0200
committerNicolas Schodet2008-04-17 23:52:08 +0200
commit6da4d0ba2001dda52ef1ac7917f0e88cec93bebc (patch)
tree12276129dfb8bf31bb4767379a8008be5d5b9724 /digital/asserv/src/asserv/twi_proto.c
parent707f39c85ea1f20f436dbcd08f9de51ffa609a03 (diff)
* digital/asserv/src/asserv:
- added goto_angle command. - fixed: should always set pos_cons when use_pos is set.
Diffstat (limited to 'digital/asserv/src/asserv/twi_proto.c')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c5
1 files changed, 5 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index 75a0a110..db6bac41 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -147,6 +147,11 @@ twi_proto_callback (u8 *buf, u8 size)
v8_to_v32 (buf[5], buf[6], buf[7], 0),
0);
break;
+ case c ('y', 0):
+ /* Go to angle.
+ * - w: angle. */
+ traj_goto_angle_start (v8_to_v32 (0, buf[2], buf[3], 0), 0);
+ break;
case c ('b', 3):
/* Move the arm.
* - w: new position.