From 779410e4b75efc0f6005ed13f6efc06ccab7c691 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sun, 20 Apr 2008 20:03:04 +0200 Subject: * digital/io/src - all setting commands overt TWI of the asserv module must finish with a leading 0 as last parameter. --- digital/io/src/asserv.c | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) (limited to 'digital/io/src/asserv.c') diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c index c8251ba1..edc504eb 100644 --- a/digital/io/src/asserv.c +++ b/digital/io/src/asserv.c @@ -443,8 +443,9 @@ asserv_set_x_position (int32_t x) asserv_twi_buffer_param[1] = v32_to_v8 (x, 2); asserv_twi_buffer_param[2] = v32_to_v8 (x, 1); asserv_twi_buffer_param[3] = v32_to_v8 (x, 0); + asserv_twi_buffer_param[4] = 0; /* Send the set X position command to the asserv board */ - asserv_twi_send_command ('p', 4); + asserv_twi_send_command ('p', 5); } /* Set current Y position. */ @@ -457,8 +458,9 @@ asserv_set_y_position (int32_t y) asserv_twi_buffer_param[1] = v32_to_v8 (y, 2); asserv_twi_buffer_param[2] = v32_to_v8 (y, 1); asserv_twi_buffer_param[3] = v32_to_v8 (y, 0); + asserv_twi_buffer_param[4] = 0; /* Send the set Y position command to the asserv board */ - asserv_twi_send_command ('p', 4); + asserv_twi_send_command ('p', 5); } /* Set current angular position. */ @@ -470,8 +472,9 @@ asserv_set_angle_position (int16_t angle) /* Put angle position as parameter */ asserv_twi_buffer_param[1] = v32_to_v8 (angle, 1); asserv_twi_buffer_param[2] = v32_to_v8 (angle, 0); + asserv_twi_buffer_param[3] = 0; /* Send the set angular position command to the asserv board */ - asserv_twi_send_command ('p', 3); + asserv_twi_send_command ('p', 4); } /* Set speeds of movements. */ @@ -486,8 +489,9 @@ asserv_set_speed (uint8_t linear_high, uint8_t angular_high, asserv_twi_buffer_param[2] = angular_high; asserv_twi_buffer_param[3] = linear_low; asserv_twi_buffer_param[4] = angular_low; + asserv_twi_buffer_param[5] = 0; /* Send the set speed of movements command to the asserv board */ - asserv_twi_send_command ('p', 5); + asserv_twi_send_command ('p', 6); } /* Go to an absolute position in (X, Y). */ -- cgit v1.2.3