From b0e46d53dacdcc37dd4379c32fe886e5776f76c7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 23 Apr 2008 21:02:33 +0200 Subject: * digital/asserv/src/asserv: - added backward goto commands. --- digital/asserv/src/asserv/twi_proto.c | 22 ++++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) (limited to 'digital/asserv/src/asserv/twi_proto.c') diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c index 85ad6d2c..76639064 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -149,7 +149,15 @@ twi_proto_callback (u8 *buf, u8 size) * - 3b: y position. */ traj_goto_start (v8_to_v32 (buf[2], buf[3], buf[4], 0), v8_to_v32 (buf[5], buf[6], buf[7], 0), - 0); + 0, 0); + break; + case c ('r', 6): + /* Go to position, backward allowed. + * - 3b: x position. + * - 3b: y position. */ + traj_goto_start (v8_to_v32 (buf[2], buf[3], buf[4], 0), + v8_to_v32 (buf[5], buf[6], buf[7], 0), + 1, 0); break; case c ('y', 2): /* Go to angle. @@ -164,7 +172,17 @@ twi_proto_callback (u8 *buf, u8 size) traj_goto_xya_start (v8_to_v32 (buf[2], buf[3], buf[4], 0), v8_to_v32 (buf[5], buf[6], buf[7], 0), v8_to_v32 (0, buf[8], buf[9], 0), - 0); + 0, 0); + break; + case c ('R', 8): + /* Go to position, then angle, backward allowed. + * - 3b: x position. + * - 3b: y position. + * - w: angle. */ + traj_goto_xya_start (v8_to_v32 (buf[2], buf[3], buf[4], 0), + v8_to_v32 (buf[5], buf[6], buf[7], 0), + v8_to_v32 (0, buf[8], buf[9], 0), + 1, 0); break; case c ('b', 3): /* Move the arm. -- cgit v1.2.3