From a0f115ece1275600e8e97f28bdd4c21eeb1650a5 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 19 May 2012 05:44:10 +0200 Subject: digital/asserv: add twi command to set acceleration --- digital/ai/src/twi_master/asserv.c | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'digital/ai/src/twi_master/asserv.c') diff --git a/digital/ai/src/twi_master/asserv.c b/digital/ai/src/twi_master/asserv.c index ad36e00b..cff3587b 100644 --- a/digital/ai/src/twi_master/asserv.c +++ b/digital/ai/src/twi_master/asserv.c @@ -419,6 +419,19 @@ asserv_set_speed (uint16_t linear_high, uint16_t angular_high, twi_master_send_buffer (10); } +void +asserv_set_acc (uint16_t linear, uint16_t angular) +{ + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); + buffer[0] = 'p'; + buffer[1] = 'a'; + buffer[2] = v16_to_v8 (linear, 1); + buffer[3] = v16_to_v8 (linear, 0); + buffer[4] = v16_to_v8 (angular, 1); + buffer[5] = v16_to_v8 (angular, 0); + twi_master_send_buffer (6); +} + void asserv_set_position (int32_t x, int32_t y, int16_t angle) { -- cgit v1.2.3