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authorJérémy Dufour2009-05-08 21:40:03 +0200
committerJérémy Dufour2009-05-08 21:40:03 +0200
commitdb9e05c6c4a8ae17ad9c0426aad5cec3f3b6ecf2 (patch)
treec46f87256f580640cf2a361a3b3d103221a3168e /digital/io/src/asserv.c
parent19b713ca60d4192d83d0f97ac0f21b1a1c64d3fc (diff)
* digital/io:
- add functions to reset the arm or the elevator to the zero position.
Diffstat (limited to 'digital/io/src/asserv.c')
-rw-r--r--digital/io/src/asserv.c14
1 files changed, 14 insertions, 0 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index e6cbc1b4..c9594d3d 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -661,3 +661,17 @@ asserv_set_scale (uint32_t scale)
asserv_scale_inv = fixed_div_f824 (1L << 24, scale);
}
+void
+asserv_arm_zero_position (void)
+{
+ asserv_twi_buffer_param[0] = ASSERV_ARM_SPEED_DEFAULT;
+ asserv_twi_send_command ('B', 1);
+}
+
+void
+asserv_elevator_zero_position (void)
+{
+ asserv_twi_buffer_param[0] = ASSERV_ELVT_SPEED_DEFAULT;
+ asserv_twi_send_command ('C', 1);
+}
+