From fb29b57fece6c53492aca06931ca866dd8e0b1d2 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 28 Apr 2008 15:31:01 +0200 Subject: * digital/asserv/src/asserv: - added generic system for different deadzones per PWM. - cleaned up pwm setting. --- digital/asserv/src/asserv/main.c | 9 +++------ 1 file changed, 3 insertions(+), 6 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 19fe2056..9516fd43 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -239,18 +239,15 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) pos_reset (&pos_theta); pos_reset (&pos_alpha); state_main.mode = MODE_PWM; - pwm_left = v8_to_v16 (args[0], args[1]); - UTILS_BOUND (pwm_left, -PWM_MAX, PWM_MAX); - pwm_right = v8_to_v16 (args[2], args[3]); - UTILS_BOUND (pwm_right, -PWM_MAX, PWM_MAX); + PWM_SET (pwm_left, v8_to_v16 (args[0], args[1])); + PWM_SET (pwm_right, v8_to_v16 (args[2], args[3])); break; case c ('w', 2): /* Set auxiliary pwm. * - w: pwm. */ pos_reset (&pos_aux0); state_aux0.mode = MODE_PWM; - pwm_aux0 = v8_to_v16 (args[0], args[1]); - UTILS_BOUND (pwm_aux0, -PWM_MAX, PWM_MAX); + PWM_SET (pwm_aux0, v8_to_v16 (args[0], args[1])); break; case c ('c', 4): /* Add to position consign. -- cgit v1.2.3