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/twi_proto.c | 5 +++-- 1 file changed, 3 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 d93cfa18..10c49eeb 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -143,8 +143,9 @@ twi_proto_callback (u8 *buf, u8 size) traj_angle_offset_start (((int32_t) (int16_t) v8_to_v16 (buf[2], buf[3])) << 8, 0); break; case c ('f', 0): - /* Go to the wall. */ - traj_ftw_start (0); + /* Go to the wall. + * - b: 0: forward, 1: backward. */ + traj_ftw_start (buf[2], 0); break; case c ('F', 0): /* Go to the dispenser. */ -- cgit v1.2.3