From 0db1380594157e8b15c62b46bdd75ebd010dc9dc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 Apr 2008 00:32:45 +0200 Subject: * digital/asserv/src/asserv: - added counter correction to handle wheels with different size. --- digital/asserv/src/asserv/main.c | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'digital/asserv/src/asserv/main.c') diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index 1e242a1d..5913c107 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -441,6 +441,12 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) * - d: angle. */ postrack_a = v8_to_v32 (args[1], args[2], args[3], args[4]); break; + case c ('c', 5): + /* Set right counter correction factor. + * - d: factor (f8.24). */ + counter_right_correction = v8_to_v32 (args[1], args[2], + args[3], args[4]); + break; case c ('f', 3): /* Set footing. * - w: footing. */ @@ -525,6 +531,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) case c ('P', 1): /* Print current settings. */ proto_send1b ('E', EEPROM_KEY); + proto_send1d ('c', counter_right_correction); proto_send1w ('f', postrack_footing); proto_send2w ('a', speed_theta.acc, speed_alpha.acc); proto_send4b ('s', speed_theta.max, speed_alpha.max, -- cgit v1.2.3