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motion is OK if motor has no absolute encoder

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r1844 | dcl | 2007-04-10 10:17:01 +1000 (Tue, 10 Apr 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-04-10 10:17:01 +10:00
parent 466e1bf4a9
commit 7363a846e1
1 changed files with 3 additions and 0 deletions
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3
site_ansto/motor_dmc2280.c
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@@ -994,6 +994,9 @@ static int checkMotion(void *pData) {
pDMC2280Driv self; pDMC2280Driv self;
self = (pDMC2280Driv)pData; self = (pDMC2280Driv)pData;
assert(self != NULL); assert(self != NULL);
/* we can only test if there is an absolute encoder */
if (!self->abs_endcoder)
return 1;
if (self->time_lastPos_set.tv_sec == 0) { if (self->time_lastPos_set.tv_sec == 0) {
/* first time - initialise the data */ /* first time - initialise the data */
if (FAILURE == readMotion(self, &steps, &counts)) if (FAILURE == readMotion(self, &steps, &counts))