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Reverse compare operator to correct report rate logic

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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
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7
confvirtualmot.c
View File

@@ -23,6 +23,7 @@
extern char *stptok(char *s, char *t, int len, char *brk); extern char *stptok(char *s, char *t, int len, char *brk);
extern int CheckMotiMatch(const void* context, const void* pUserData); extern int CheckMotiMatch(const void* context, const void* pUserData);
extern double DoubleTime();
/*--------------------------------------------------------------------------- /*---------------------------------------------------------------------------
An internal data structure which holds information required to control An internal data structure which holds information required to control
@@ -191,6 +192,7 @@ static long ConfSetValue(void *pData, SConnection *pCon, float newValue){
self->targetValue = newValue; self->targetValue = newValue;
self->targetReached = 0; self->targetReached = 0;
self->posCount = 0; self->posCount = 0;
self->last_report_time = 0.0;
status = startMotorList(self,pCon); status = startMotorList(self,pCon);
if(status != OKOK){ if(status != OKOK){
@@ -314,10 +316,10 @@ static int ConfCheckStatus(void *pData, SConnection *pCon){
InvokeCallBack(self->pCall, MOTDRIVE, &event); InvokeCallBack(self->pCall, MOTDRIVE, &event);
} else if (result == HWBusy) { } else if (result == HWBusy) {
#if 1 #if 1
double current_time, skip_time, DoubleTime(void); double current_time, skip_time;
current_time = DoubleTime(); current_time = DoubleTime();
skip_time = 0.500; skip_time = 0.500;
if (self->last_report_time + skip_time >= current_time) if (self->last_report_time + skip_time <= current_time)
#else #else
self->posCount++; self->posCount++;
if(self->posCount >= 10/*ObVal(self->ParArray,MOVECOUNT)*/) if(self->posCount >= 10/*ObVal(self->ParArray,MOVECOUNT)*/)
@@ -469,6 +471,7 @@ int MakeConfigurableVirtualMotor(SConnection *pCon, SicsInterp *pSics,
pNew->name = strdup(argv[1]); pNew->name = strdup(argv[1]);
pNew->posCount = 0; pNew->posCount = 0;
pNew->last_report_time = 0.0;
pNew->pDes = CreateDescriptor("ConfigurableVirtualMotor"); pNew->pDes = CreateDescriptor("ConfigurableVirtualMotor");
pNew->pDriv = CreateDrivableInterface(); pNew->pDriv = CreateDrivableInterface();
pNew->motorList = LLDcreate(sizeof(RealMotor)); pNew->motorList = LLDcreate(sizeof(RealMotor));

6
motor.c
View File

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