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Change movecount to millisecond rather than loop count because of faster loop count on newere hardware/software

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r3611 | dcl | 2012-06-19 14:01:09 +1000 (Tue, 19 Jun 2012) | 1 line
This commit is contained in:
Douglas Clowes
2012-06-19 14:01:09 +10:00
parent 6891ac08ee
commit da624bba07
4 changed files with 25 additions and 2 deletions
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1
confvirtmot.i
View File

@@ -15,6 +15,7 @@ typedef struct __CONFVIRTMOT {
float targetValue; float targetValue;
int targetReached; int targetReached;
int posCount; int posCount;
double last_report_time;
char scriptError[512]; char scriptError[512];
int parseOK; int parseOK;
}ConfigurableVirtualMotor, *pConfigurableVirtualMotor; }ConfigurableVirtualMotor, *pConfigurableVirtualMotor;

11
confvirtualmot.c
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@@ -313,13 +313,24 @@ static int ConfCheckStatus(void *pData, SConnection *pCon){
event.fVal = self->pDriv->GetValue(self,pCon); event.fVal = self->pDriv->GetValue(self,pCon);
InvokeCallBack(self->pCall, MOTDRIVE, &event); InvokeCallBack(self->pCall, MOTDRIVE, &event);
} else if (result == HWBusy) { } else if (result == HWBusy) {
#if 1
double current_time, skip_time, DoubleTime(void);
current_time = DoubleTime();
skip_time = 0.500;
if (self->last_report_time + skip_time >= current_time)
#else
self->posCount++; self->posCount++;
if(self->posCount >= 10/*ObVal(self->ParArray,MOVECOUNT)*/) if(self->posCount >= 10/*ObVal(self->ParArray,MOVECOUNT)*/)
#endif
{ {
event.pName = self->name; event.pName = self->name;
event.fVal = self->pDriv->GetValue(self,pCon); event.fVal = self->pDriv->GetValue(self,pCon);
InvokeCallBack(self->pCall, MOTDRIVE, &event); InvokeCallBack(self->pCall, MOTDRIVE, &event);
#if 1
self->last_report_time = current_time;
#else
self->posCount = 0; self->posCount = 0;
#endif
} }
} }
return result; return result;

14
motor.c
View File

@@ -368,15 +368,25 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
/*---------------------------------------------------------------------*/ /*---------------------------------------------------------------------*/
static void handleMoveCallback(pMotor self, SConnection *pCon) static void handleMoveCallback(pMotor self, SConnection *pCon)
{ {
MotCallback sCall; #if 1
double current_time, skip_time, DoubleTime(void);
current_time = DoubleTime();
skip_time = 0.001 * ObVal(self->ParArray,MOVECOUNT);
if(self->last_report_time + skip_time >= current_time)
#else
self->posCount++; self->posCount++;
if(self->posCount >= ObVal(self->ParArray,MOVECOUNT)) if(self->posCount >= ObVal(self->ParArray,MOVECOUNT))
#endif
{ {
MotCallback sCall;
MotorGetSoftPosition(self,pCon,&sCall.fVal); MotorGetSoftPosition(self,pCon,&sCall.fVal);
sCall.pName = self->name; sCall.pName = self->name;
InvokeCallBack(self->pCall, MOTDRIVE, &sCall); InvokeCallBack(self->pCall, MOTDRIVE, &sCall);
#if 1
self->last_report_time = current_time;
#else
self->posCount = 0; self->posCount = 0;
#endif
} }
} }
/*-----------------------------------------------------------------------*/ /*-----------------------------------------------------------------------*/

1
motor.h
View File

@@ -33,6 +33,7 @@
int posFaultCount; int posFaultCount;
int stopped; int stopped;
int moving; /* for enabling MOTDRIVE/MOTEND reporting */ int moving; /* for enabling MOTDRIVE/MOTEND reporting */
double last_report_time;
} Motor; } Motor;
typedef Motor *pMotor; typedef Motor *pMotor;
/*------------------------------------------------------------------------ /*------------------------------------------------------------------------