From e668c747f1e5787b4cb8ed2627abbc975d75eff2 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 5 Apr 2008 11:38:48 +0200 Subject: * digital/asserv/src/asserv: - angle offset clean up. - added angle offset proto command. --- digital/asserv/src/asserv/main.c | 9 +++++++++ 1 file changed, 9 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 e96ebf90..99854d77 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -312,6 +312,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) speed_aux0.pos_cons += v8_to_v32 (args[0], args[1], args[2], args[3]); state_start (&state_aux0, args[4]); break; + case c ('a', 5): + /* Set angular speed controlled position consign. + * - d: angle offset. + * - b: sequence number. */ + if (args[4] == state_main.sequence) + break; + traj_angle_offset_start (v8_to_v32 (args[0], args[1], args[2], + args[3]), 0); + break; case c ('f', 1): /* Go to the wall. * - b: sequence number. */ -- cgit v1.2.3