From 16736b57761fc62479d3e82a3af98bdb68d2b74a Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Fri, 2 May 2008 04:33:16 +0200 Subject: * digital/io/src - add asserv goto with moving backward support. --- digital/io/src/main.c | 9 +++++++++ 1 file changed, 9 insertions(+) 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; -- cgit v1.2.3