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Diffstat (limited to 'digital/asserv/src/asserv/main.c')
-rw-r--r--digital/asserv/src/asserv/main.c10
1 files changed, 7 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 2ea3d95d..228426d6 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -577,8 +577,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
case c ('D', 3):
pos_d_sat = v8_to_v16 (args[1], args[2]);
break;
- case c ('b', 3):
- pos_blocked = v8_to_v16 (args[1], args[2]);
+ case c ('b', 7):
+ pos_blocked_error_limit = v8_to_v16 (args[1], args[2]);
+ pos_blocked_speed_limit = v8_to_v16 (args[3], args[4]);
+ pos_blocked_counter_limit = v8_to_v16 (args[5], args[6]);
break;
case c ('e', 5):
traj_eps = v8_to_v16 (args[1], args[2]);
@@ -619,7 +621,9 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
proto_send1w ('E', pos_e_sat);
proto_send1w ('I', pos_i_sat);
proto_send1w ('D', pos_d_sat);
- proto_send1w ('b', pos_blocked);
+ proto_send3w ('b', pos_blocked_error_limit,
+ pos_blocked_speed_limit,
+ pos_blocked_counter_limit);
proto_send2w ('e', traj_eps, traj_aeps);
proto_send1w ('l', traj_angle_limit);
proto_send1b ('w', pwm_reverse);