From e5955adc9c33cee7d2fdda723fb02a2af5e612be Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 7 May 2009 22:39:46 +0200 Subject: * digital/asserv: - added forward go to the wall. - use defines for contacts. --- digital/asserv/src/asserv/main.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 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 527b1940..983995f5 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -383,12 +383,13 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) speed->pos_cons += v8_to_v32 (args[1], args[2], args[3], args[4]); state_start (state, MODE_SPEED, args[5]); break; - case c ('f', 1): + case c ('f', 2): /* Go to the wall. + * - b: 0: forward, 1: backward. * - b: sequence number. */ - if (args[0] == state_main.sequence) + if (args[1] == state_main.sequence) break; - traj_ftw_start (args[0]); + traj_ftw_start (args[0], args[1]); break; case c ('F', 1): /* Go to the dispenser. -- cgit v1.2.3