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Fixed SICS-273: hnotify sends position updates for some stationary motors

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Reverted change from rev 1.79 19-Aug-08
which was supposed to send IDLE state position updates if position change is greater than the precision.

r2697 | ffr | 2008-09-18 16:00:52 +1000 (Thu, 18 Sep 2008) | 5 lines
This commit is contained in:
Ferdi Franceschini
2008-09-18 16:00:52 +10:00
committed by Douglas Clowes
parent 7919c7cd6a
commit 3afb9597f2
1 changed files with 4 additions and 11 deletions
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15
site_ansto/motor_dmc2280.c
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@@ -1746,9 +1746,7 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
pAsyncTxn pCmd = event->event.msg.cmd;
if (self->subState == 1) { /* Status Response */
int iRet;
long lDelta, lprecision;
float fprecision;
long lDelta;
iRet = rspStatus(self, pCmd->inp_buf);
if (iRet == 0)
break;
@@ -1759,16 +1757,11 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
return;
}
/* if the motor moved, update any observers */
MotorGetPar(self->pMot, "precision", &fprecision);
if (self->abs_encoder) {
if (self->abs_encoder)
lDelta = fabs(self->currCounts - self->lastCounts);
lprecision = (long) (fprecision * self->cntsPerX + 0.5);
} else {
else
lDelta = fabs(self->currSteps - self->lastSteps);
lprecision = (long) (fprecision * self->stepsPerX + 0.5);
}
if (lDelta > lprecision) {
if (lDelta > 10) {
set_lastMotion(self, self->currSteps, self->currCounts);
report_motion(self);
}