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SICS-501 Special one-shot move after changing direction for backlash

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Douglas Clowes
2013-06-26 17:20:21 +10:00
parent 28b7acbeff
commit 4bc06cea76
1 changed files with 3 additions and 0 deletions
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3
site_ansto/motor_dmc2280.c
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@@ -2516,6 +2516,7 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
SICSLogWrite(line, eStatus); SICSLogWrite(line, eStatus);
} }
set_lastMotion(self, self->currSteps, self->currCounts); set_lastMotion(self, self->currSteps, self->currCounts);
self->preseek = 2; /* special one-shot */
absolute = motCreep(self, target); absolute = motCreep(self, target);
} }
} }
@@ -2555,6 +2556,8 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
} }
cmdPosition(self, absolute); cmdPosition(self, absolute);
self->subState = 3; self->subState = 3;
if (self->preseek == 2) /* change of direction */
self->preseek = 0; /* don't do it again */
return; return;
} }
} }