From 38aa82a1a03efd53933957fece2e19567afbe6bd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 12 May 2012 14:43:44 +0200 Subject: digital/asserv, digital/mimot: add blocking simulation --- digital/mimot/src/dirty/main.c | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'digital/mimot/src/dirty/main.c') diff --git a/digital/mimot/src/dirty/main.c b/digital/mimot/src/dirty/main.c index e294c8bf..f6b7fd6a 100644 --- a/digital/mimot/src/dirty/main.c +++ b/digital/mimot/src/dirty/main.c @@ -224,6 +224,13 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) output_set (output, v8_to_v16 (args[1], args[2])); control_state_set_mode (state, CS_MODE_NONE, 0); break; + case c ('b', 1): + /* Simulate a blocked state on auxiliary motor. + * - b: aux index. */ + if (!auxp) { proto_send0 ('?'); return; } + output_set (output, 0); + control_state_blocked (state); + break; case c ('b', 2): /* Set brake and set zero auxiliary pwm. * - b: aux index. -- cgit v1.2.3