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PSI UPDATE

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r2720 | ffr | 2008-10-13 15:40:07 +1100 (Mon, 13 Oct 2008) | 2 lines
This commit is contained in:
Ferdi Franceschini
2008-10-13 15:40:07 +11:00
committed by Douglas Clowes
parent f0973c6196 4baffb9b7a
commit 0adecdcec9
183 changed files with 20455 additions and 3661 deletions
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11
motor.c
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@@ -171,8 +171,10 @@
fputs(pBueffel,fd);
sprintf(pBueffel,"%s AccessCode %f\n",name,ObVal(self->ParArray,USRIGHTS));
fputs(pBueffel,fd);
sprintf(pBueffel,"%s poscount %f\n",name,
ObVal(self->ParArray,POSCOUNT));
sprintf(pBueffel,"%s failafter %f\n",name,ObVal(self->ParArray,ECOUNT));
fputs(pBueffel,fd);
sprintf(pBueffel,"%s maxretry %f\n",name,ObVal(self->ParArray,POSCOUNT));
fputs(pBueffel,fd);
sprintf(pBueffel,"%s movecount %f\n",name,
ObVal(self->ParArray,MOVECOUNT));
fputs(pBueffel,fd);
@@ -256,6 +258,8 @@ void finishDriving(pMotor self, SConnection *pCon)
MotCallback sCall;
MotorGetSoftPosition(self,pCon,&sCall.fVal);
sCall.pName = self->name;
self->fPosition = sCall.fVal;
self->fPosition = sCall.fVal;
InvokeCallBack(self->pCall, MOTDRIVE, &sCall); /* send also very last position */
InvokeCallBack(self->pCall, MOTEND, &sCall);
}
@@ -330,7 +334,7 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
newStatus = checkPosition(self,pCon);
if(newStatus != HWBusy)
{
finishDriving(self,pCon);
finishDriving(self,pCon);
}
}
break;
@@ -351,6 +355,7 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
}
if(newStatus == HWFault)
{
finishDriving(self,pCon);
MotorInterrupt(pCon,ObVal(self->ParArray,INT));
self->retryCount = 0;
}