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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; pAsyncTxn pCmd = event->event.msg.cmd;
if (self->subState == 1) { /* Status Response */ if (self->subState == 1) { /* Status Response */
int iRet; int iRet;
long lDelta, lprecision; long lDelta;
float fprecision;
iRet = rspStatus(self, pCmd->inp_buf); iRet = rspStatus(self, pCmd->inp_buf);
if (iRet == 0) if (iRet == 0)
break; break;
@@ -1759,16 +1757,11 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
return; return;
} }
/* if the motor moved, update any observers */ /* 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); lDelta = fabs(self->currCounts - self->lastCounts);
lprecision = (long) (fprecision * self->cntsPerX + 0.5); else
} else {
lDelta = fabs(self->currSteps - self->lastSteps); lDelta = fabs(self->currSteps - self->lastSteps);
lprecision = (long) (fprecision * self->stepsPerX + 0.5); if (lDelta > 10) {
}
if (lDelta > lprecision) {
set_lastMotion(self, self->currSteps, self->currCounts); set_lastMotion(self, self->currSteps, self->currCounts);
report_motion(self); report_motion(self);
} }