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authorJérémy Dufour2009-05-20 19:22:02 +0200
committerJérémy Dufour2009-05-20 19:22:02 +0200
commit503e3511b2fa42263749c62a9625e6549ac2fe2d (patch)
tree86826db066cceaf8a9351f0f0adb11327ed8a3f5 /digital/io/src/asserv.c
parentfbb64cf43457a96dc7757f649d9f2dc3d6243d19 (diff)
* digital/io/src:
- support backward parameter for the asserv_goto, - enhance to avoid static obstacle, - add center circle of the playground table.
Diffstat (limited to 'digital/io/src/asserv.c')
-rw-r--r--digital/io/src/asserv.c4
1 files changed, 2 insertions, 2 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index 062ca13a..d8fc2ea0 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -627,7 +627,7 @@ asserv_set_position (int32_t x, int32_t y, int16_t angle)
/* Go to an absolute position in (X, Y). */
void
-asserv_goto (uint32_t x, uint32_t y)
+asserv_goto (uint32_t x, uint32_t y, uint8_t backward)
{
x = fixed_mul_f824 (x, asserv_scale_inv);
y = fixed_mul_f824 (y, asserv_scale_inv);
@@ -640,7 +640,7 @@ asserv_goto (uint32_t x, uint32_t y)
asserv_twi_buffer_param[4] = v32_to_v8 (y, 1);
asserv_twi_buffer_param[5] = v32_to_v8 (y, 0);
/* No backward. */
- asserv_twi_buffer_param[6] = 0;
+ asserv_twi_buffer_param[6] = backward;
/* Send the got to an absolute position command to the asserv board */
asserv_twi_send_command ('x', 7);
}