From 60700b1d46129f4b01b55fef9b43dfc1005887ad Mon Sep 17 00:00:00 2001
From: SCooper <simon.cooper@stfc.ac.uk>
Date: Fri, 29 Jul 2022 14:26:18 +0100
Subject: [PATCH] Swap AXES and PROG execution order, allow logic to execute
 and send commands on the same cycle

---
 solution/solution.tsproj                | 4 ----
 solution/tc_project_app/POUs/MAIN.TcPOU | 6 ++----
 solution/tc_project_app/tc_mca_std_lib  | 2 +-
 3 files changed, 3 insertions(+), 9 deletions(-)

diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 0009c9a..8540b5c 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -17,9 +17,5 @@
 		<Plc>
 			<Project File="tc_project_app.xti"/>
 		</Plc>
-		<Io/>
 	</Project>
-	<Mappings>
-		<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030010" Watchdog="14000000040000000400000004000000"/>
-	</Mappings>
 </TcSmProject>
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index a151118..388a292 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -28,9 +28,8 @@ VAR PERSISTENT
 END_VAR]]></Declaration>
     <Implementation>
       <ST><![CDATA[POSITION_RECOVERY();
-AXES();
 PROG();
-AXES_EndOfCycle();]]></ST>
+AXES();]]></ST>
     </Implementation>
     <Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
     <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
@@ -231,9 +230,8 @@ END_FOR]]></ST>
     </Action>
     <LineIds Name="MAIN">
       <LineId Id="505" Count="0" />
+      <LineId Id="593" Count="0" />
       <LineId Id="81" Count="0" />
-      <LineId Id="538" Count="0" />
-      <LineId Id="568" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.AXES">
       <LineId Id="11" Count="1" />
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index b3886b7..9df77c9 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit b3886b762b0cf8f77a93f90d2e39d3b3fc46a4fe
+Subproject commit 9df77c95a603fd24efa32522784df02c340607ec