From 4bc06cea767af82185be757cdfe9ba7e7d41db2c Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Wed, 26 Jun 2013 17:20:21 +1000
Subject: [PATCH] SICS-501 Special one-shot move after changing direction for
 backlash

---
 site_ansto/motor_dmc2280.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 3ea4c91a..cd995315 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -2516,6 +2516,7 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
                   SICSLogWrite(line, eStatus);
                 }
                 set_lastMotion(self, self->currSteps, self->currCounts);
+                self->preseek = 2; /* special one-shot */
                 absolute = motCreep(self, target);
               }
             }
@@ -2555,6 +2556,8 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
                 }
                 cmdPosition(self, absolute);
                 self->subState = 3;
+                if (self->preseek == 2)  /* change of direction */
+                  self->preseek = 0;      /* don't do it again */
                 return;
               }
             }