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Diffstat (limited to 'digital/asserv/src/asserv/twi_proto.c')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c5
1 files changed, 5 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index 75a0a110..db6bac41 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -147,6 +147,11 @@ twi_proto_callback (u8 *buf, u8 size)
v8_to_v32 (buf[5], buf[6], buf[7], 0),
0);
break;
+ case c ('y', 0):
+ /* Go to angle.
+ * - w: angle. */
+ traj_goto_angle_start (v8_to_v32 (0, buf[2], buf[3], 0), 0);
+ break;
case c ('b', 3):
/* Move the arm.
* - w: new position.