summaryrefslogtreecommitdiff
path: root/digital/io/src/asserv.c
diff options
context:
space:
mode:
authorJérémy Dufour2008-04-20 20:03:04 +0200
committerJérémy Dufour2008-04-20 20:03:04 +0200
commit779410e4b75efc0f6005ed13f6efc06ccab7c691 (patch)
tree9ba002e5057fd61f02a1b70d7f8ab9e9437ebb08 /digital/io/src/asserv.c
parentf088b0f951d1d074429c2a6e8f4946310108db6d (diff)
* digital/io/src
- all setting commands overt TWI of the asserv module must finish with a leading 0 as last parameter.
Diffstat (limited to 'digital/io/src/asserv.c')
-rw-r--r--digital/io/src/asserv.c12
1 files changed, 8 insertions, 4 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index c8251ba1..edc504eb 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -443,8 +443,9 @@ asserv_set_x_position (int32_t x)
asserv_twi_buffer_param[1] = v32_to_v8 (x, 2);
asserv_twi_buffer_param[2] = v32_to_v8 (x, 1);
asserv_twi_buffer_param[3] = v32_to_v8 (x, 0);
+ asserv_twi_buffer_param[4] = 0;
/* Send the set X position command to the asserv board */
- asserv_twi_send_command ('p', 4);
+ asserv_twi_send_command ('p', 5);
}
/* Set current Y position. */
@@ -457,8 +458,9 @@ asserv_set_y_position (int32_t y)
asserv_twi_buffer_param[1] = v32_to_v8 (y, 2);
asserv_twi_buffer_param[2] = v32_to_v8 (y, 1);
asserv_twi_buffer_param[3] = v32_to_v8 (y, 0);
+ asserv_twi_buffer_param[4] = 0;
/* Send the set Y position command to the asserv board */
- asserv_twi_send_command ('p', 4);
+ asserv_twi_send_command ('p', 5);
}
/* Set current angular position. */
@@ -470,8 +472,9 @@ asserv_set_angle_position (int16_t angle)
/* Put angle position as parameter */
asserv_twi_buffer_param[1] = v32_to_v8 (angle, 1);
asserv_twi_buffer_param[2] = v32_to_v8 (angle, 0);
+ asserv_twi_buffer_param[3] = 0;
/* Send the set angular position command to the asserv board */
- asserv_twi_send_command ('p', 3);
+ asserv_twi_send_command ('p', 4);
}
/* Set speeds of movements. */
@@ -486,8 +489,9 @@ asserv_set_speed (uint8_t linear_high, uint8_t angular_high,
asserv_twi_buffer_param[2] = angular_high;
asserv_twi_buffer_param[3] = linear_low;
asserv_twi_buffer_param[4] = angular_low;
+ asserv_twi_buffer_param[5] = 0;
/* Send the set speed of movements command to the asserv board */
- asserv_twi_send_command ('p', 5);
+ asserv_twi_send_command ('p', 6);
}
/* Go to an absolute position in (X, Y). */