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-rw-r--r--digital/mimot/src/dirty/main.c12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/main.c b/digital/mimot/src/dirty/main.c
index d826dd98..b3d93aa0 100644
--- a/digital/mimot/src/dirty/main.c
+++ b/digital/mimot/src/dirty/main.c
@@ -275,6 +275,18 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
aux_traj_goto_start (auxp, v8_to_v16 (args[1], args[2]), args[3]);
break;
+ case c ('y', 5):
+ /* Auxiliary clamp.
+ * - b: aux index.
+ * - b: speed.
+ * - w: clamping PWM.
+ * - b: sequence number. */
+ if (!auxp) { proto_send0 ('?'); return; }
+ if (args[4] == state->sequence)
+ break;
+ aux_traj_clamp_start (auxp, args[1], v8_to_v16 (args[2], args[3]),
+ args[4]);
+ break;
case c ('y', 3):
/* Auxiliary find zero.
* - b: aux index.