From c691f95a8f90bce08d3bb9ad22279f5b55438315 Mon Sep 17 00:00:00 2001 From: Douglas Clowes Date: Fri, 25 May 2007 16:42:18 +1000 Subject: [PATCH] Spelling r1990 | dcl | 2007-05-25 16:42:18 +1000 (Fri, 25 May 2007) | 2 lines --- doc/programmer/motor.tex | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/programmer/motor.tex b/doc/programmer/motor.tex index a7fb83b8..c5e3f695 100644 --- a/doc/programmer/motor.tex +++ b/doc/programmer/motor.tex @@ -8,7 +8,7 @@ subdivided into a driver and the logical object. There is a problem here. There are some data fields and functions which must be present for any motor driver. Then there are fields which are specific just to a special implementation of a mot -driver. There are several ways to deal with this. The way choosen for +driver. There are several ways to deal with this. The way chosen for the motor driver is a kind of overlay. The first few fields of a valid motor driver structure MUST be specified in the same order as given below. A special motor driver can add additional fields at the end of @@ -122,12 +122,12 @@ creates a simulation motor driver. \end{description} \subsubsection{The Motor Logical Object} -The motor object represents the motor to SICS. One of its responsabilities +The motor object represents the motor to SICS. One of its responsibilities is to drive motor operations and error checking. The scheme implemented is that the motor object tries to bring the motor to its position at least three times before a failure is recorded. Also the motor object keeps track of a count of failed operations. If this -count gets to high an interrupt is issued to stop the instrument. This +count gets too high an interrupt is issued to stop the instrument. This was put in after Druechal tried to drive over a slab of concrete for a whole night and subsequently broke a clutch. Motors are represented by the @@ -164,7 +164,7 @@ object. Much of the action of the motor is hidden in the implementation of the drivable interface to the motor. Additionally the functions as given below are defined. All functions take a pointer to the motor object data structure -as a parameter. They retun 0 on success or 1 on failure while not stated +as a parameter. They return 0 on success or 1 on failure while not stated otherwise. \begin{description} \item[int MotorGetPar(pMotor self, char *name, float *fVal)] retrieves the