From 21a6726ab5d767aa389a8a6c8f874ccda008e607 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 30 Mar 2009 00:20:17 +0200 Subject: * digital/asserv/src/asserv: - use pointers for aux. --- digital/asserv/src/asserv/main.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 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 1ba1f956..f6e07126 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -110,6 +110,7 @@ main (int argc, char **argv) postrack_init (); speed_init (); traj_init (); + aux_init (); eeprom_read_params (); proto_send0 ('z'); sei (); @@ -139,8 +140,7 @@ main_loop (void) /* Compute trajectory. */ if (state_main.mode >= MODE_TRAJ) traj_update (); - if (state_aux0.mode >= MODE_TRAJ) - aux_traj_update (); + aux_traj_update (); /* Speed control. */ speed_update (); main_timer[3] = timer_read (); @@ -416,14 +416,14 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) * - b: sequence number. */ if (args[2] == state_aux0.sequence) break; - aux_traj_goto_start (v8_to_v16 (args[0], args[1]), args[2]); + aux_traj_goto_start (&aux0, v8_to_v16 (args[0], args[1]), args[2]); break; case c ('y', 1): /* Auxiliary find zero. * - b: sequence number. */ if (args[0] == state_aux0.sequence) break; - aux_traj_find_zero_start (args[0]); + aux_traj_find_zero_start (&aux0, args[0]); break; case c ('a', 2): /* Set both acknoledge. -- cgit v1.2.3