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authorNicolas Schodet2012-05-19 05:44:10 +0200
committerNicolas Schodet2012-05-19 05:44:10 +0200
commita0f115ece1275600e8e97f28bdd4c21eeb1650a5 (patch)
treeeae4dda5243063453f886ce49d89e24ebee1cb65 /digital/asserv/src/asserv
parent91700c4a88361d0a10f920c91f7452020ab7f9b7 (diff)
digital/asserv: add twi command to set acceleration
Diffstat (limited to 'digital/asserv/src/asserv')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c9
1 files changed, 9 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index c9e8a1f4..cd79bf3e 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -313,6 +313,15 @@ twi_proto_params (u8 *buf, u8 size)
cs_main.speed_alpha.slow = v8_to_v16 (buf[6], buf[7]);
eat = 4;
break;
+ case 'a':
+ /* Set acceleration.
+ * - w: theta acc.
+ * - w: alpha acc. */
+ if (size < 4)
+ return 1;
+ cs_main.speed_theta.acc_f = v8_to_v16 (buf[0], buf[1]);
+ cs_main.speed_alpha.acc_f = v8_to_v16 (buf[2], buf[3]);
+ break;
default:
return 1;
}