From d6647a90f4bfe59968cf0f94443335f2673a32f3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 23 May 2009 00:09:23 +0200 Subject: * digital/asserv, digital/io: - added usage of center sensor. --- digital/asserv/src/asserv/twi_proto.c | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) (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 dac59f93..c4fa1f0d 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -163,11 +163,17 @@ twi_proto_callback (u8 *buf, u8 size) * - w: angle offset. */ traj_angle_offset_start (((int32_t) (int16_t) v8_to_v16 (buf[2], buf[3])) << 8, 0); break; - case c ('f', 0): + case c ('f', 1): /* Go to the wall. * - b: 0: forward, 1: backward. */ traj_ftw_start (buf[2], 0); break; + case c ('g', 2): + /* Go to the wall using center sensor with delay. + * - b: 0: forward, 1: backward. + * - b: delay. */ + traj_ftw_start_center (buf[2], buf[3], 0); + break; case c ('F', 0): /* Go to the dispenser. */ traj_gtd_start (0); -- cgit v1.2.3