From 1ea652e0d5185aee5ca60182302d7bb2d4056b46 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 25 Mar 2008 23:04:07 +0100 Subject: * digital/asserv/src/asserv: - better blocked state handling, now deactivate all motor control on blocking. --- digital/asserv/src/asserv/main.c | 7 ------- 1 file changed, 7 deletions(-) (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 38a2e9f8..e96ebf90 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -326,18 +326,11 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) /* Set both acknoledge. * - b: main ack sequence number. * - b: auxiliary ack sequence number. */ - if (state_aux0.blocked && args[1] == state_aux0.finished) - pos_reset (&pos_aux0); state_acknowledge (&state_aux0, args[1]); /* no break; */ case c ('a', 1): /* Set main acknoledge. * - b: main ack sequence number. */ - if (state_main.blocked && args[0] == state_main.finished) - { - pos_reset (&pos_theta); - pos_reset (&pos_alpha); - } state_acknowledge (&state_main, args[0]); break; /* Stats. -- cgit v1.2.3