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authorNicolas Schodet2010-05-10 23:54:39 +0200
committerNicolas Schodet2010-05-10 23:54:39 +0200
commit8b59056a98c466531ee77fee702d119ad393c902 (patch)
tree3ba4da8402f4b44017fde761ecd85de335a3e6d0 /digital/io/src/main.c
parent765af8a29e30a69c259af3f5b19fe5ab71cc5a03 (diff)
digital/io/src: add motor status report
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c13
1 files changed, 13 insertions, 0 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index bfa17068..ae0d0c3e 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -487,6 +487,19 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Stop motor */
asserv_stop_motor ();
break;
+ case 'S':
+ /* Status. */
+ {
+ asserv_status_e move_status = asserv_move_cmd_status ();
+ asserv_status_e motor0_status = asserv_motor0_cmd_status ();
+ asserv_status_e motor1_status = asserv_motor1_cmd_status ();
+ asserv_status_e motorm0_status = mimot_motor0_cmd_status ();
+ asserv_status_e motorm1_status = mimot_motor1_cmd_status ();
+ proto_send2b ('S', move_status, (motor0_status << 0)
+ | (motor1_status << 2) | (motorm0_status << 4)
+ | (motorm1_status << 6));
+ }
+ break;
}
}
break;