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-rw-r--r--digital/asserv/src/asserv/main.c15
1 files changed, 15 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 4170288b..e8355fbd 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -303,6 +303,21 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
control_state_set_mode (state, CS_MODE_NONE, 0);
break;
#endif
+ case c ('b', 0):
+ /* Simulate a blocked state. */
+ output_set (&output_left, 0);
+ output_set (&output_right, 0);
+ control_state_blocked (&cs_main.state);
+ break;
+#if AC_ASSERV_AUX_NB
+ case c ('B', 1):
+ /* Simulate a blocked state on auxiliary motor.
+ * - b: aux index. */
+ if (!auxp) { proto_send0 ('?'); return; }
+ output_set (output, 0);
+ control_state_blocked (state);
+ break;
+#endif
case c ('c', 4):
/* Add to position consign.
* - w: theta consign offset.