linse/sics
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Reverse compare operator to correct report rate logic

Browse Source 
r3613 | dcl | 2012-06-20 14:57:37 +1000 (Wed, 20 Jun 2012) | 1 line
This commit is contained in:
Douglas Clowes
2012-06-20 14:57:37 +10:00
parent d99d9cc7ee
commit 79c4acc5ad
2 changed files with 9 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
motor.c
View File

@@ -76,6 +76,7 @@
#define IGNOREFAULT 10
#define MOVECOUNT 11
extern double DoubleTime(void);
/*-------------------------------------------------------------------------*/
static void *MotorGetInterface(void *pData, int iID)
@@ -369,10 +370,10 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
static void handleMoveCallback(pMotor self, SConnection *pCon)
{
#if 1
double current_time, skip_time, DoubleTime(void);
double current_time, skip_time;
current_time = DoubleTime();
skip_time = 0.001 * ObVal(self->ParArray,MOVECOUNT);
if(self->last_report_time + skip_time >= current_time)
if(self->last_report_time + skip_time <= current_time)
#else
self->posCount++;
if(self->posCount >= ObVal(self->ParArray,MOVECOUNT))
@@ -808,6 +809,7 @@ extern void KillPiPiezo(void *pData);
self->moving = 1;
self->fTarget = fHard;
InvokeCallBack(self->pCall,HDBVAL,self);
self->last_report_time = 0.0;
self->posCount = 0;
iRet = self->pDriver->RunTo(self->pDriver,fHard);
if(iRet != OKOK)