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authorNicolas Schodet2009-05-23 00:09:23 +0200
committerNicolas Schodet2009-05-23 00:09:23 +0200
commitd6647a90f4bfe59968cf0f94443335f2673a32f3 (patch)
tree7f51af2ed63cd149346b420928857974e561d903 /digital/io/src/asserv.c
parent8f3f3cea26f03d5c3979dd594ff02e7d6d49da54 (diff)
* digital/asserv, digital/io:
- added usage of center sensor.
Diffstat (limited to 'digital/io/src/asserv.c')
-rw-r--r--digital/io/src/asserv.c9
1 files changed, 6 insertions, 3 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index 6f849054..0853a11b 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -503,7 +503,7 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward)
asserv_twi_send_command ('X', 9);
}
-/* Go to the wall (moving backward). */
+/* Go to the wall. */
void
asserv_go_to_the_wall (uint8_t backward)
{
@@ -517,8 +517,11 @@ asserv_go_to_the_wall (uint8_t backward)
void
asserv_go_to_distributor (void)
{
- /* Send the go the distributor command to the asserv board */
- asserv_twi_send_command ('F', 0);
+ /* Put direction and delay as parameters */
+ asserv_twi_buffer_param[0] = 0;
+ asserv_twi_buffer_param[1] = 25;
+ /* Send the go the wall command to the asserv board */
+ asserv_twi_send_command ('g', 2);
}
/* Move the arm. */