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authorJérémy Dufour2008-05-02 04:33:16 +0200
committerJérémy Dufour2008-05-02 04:33:16 +0200
commit16736b57761fc62479d3e82a3af98bdb68d2b74a (patch)
tree8cd29f61807fa35a107832e5462d7b61a243b8aa /digital/io/src
parent93e80d4e5df33d88862635f199fbd6d124a24076 (diff)
* digital/io/src
- add asserv goto with moving backward support.
Diffstat (limited to 'digital/io/src')
-rw-r--r--digital/io/src/main.c9
1 files changed, 9 insertions, 0 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 41fd141a..0866642b 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -592,6 +592,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
asserv_goto (v8_to_v32 (args[1], args[2], args[3], args[4]),
v8_to_v32 (args[5], args[6], args[7], args[8]));
break;
+ case 'r':
+ /* Go to an absolute position (X,Y) in mm with backward
+ * allowed.
+ * - 4b: x;
+ * - 4b: y.
+ */
+ asserv_goto_back (v8_to_v32 (args[1], args[2], args[3], args[4]),
+ v8_to_v32 (args[5], args[6], args[7], args[8]));
+ break;
}
}
break;