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fix some typos

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This commit is contained in:
Douglas Clowes
2012-11-28 16:26:52 +11:00
parent 70744522be
commit ef68c15345
2 changed files with 6 additions and 6 deletions
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4
doc/programmer/command.tex
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@ -226,7 +226,7 @@ A valid SICS object structure has to look like this:
Please note that the first item in the data structure MUST be a Please note that the first item in the data structure MUST be a
pointer to an SICS object descriptor. Add your own stuff below pointer to an SICS object descriptor. Add your own stuff below
that. If you do not adhere to this requirement, SICS will dump core on that. If you do not adhere to this requirement, SICS will dump core on
you rather sooner then later. you rather sooner than later.
SICS needs this object descriptor for its own internal purposes. The SICS needs this object descriptor for its own internal purposes. The
@ -566,7 +566,7 @@ This code also shows the necessary error checking. It also shows how
to check for possible interrupts after such an operation. It is very to check for possible interrupts after such an operation. It is very
advisable to do this because the user may have interrupted the advisable to do this because the user may have interrupted the
process. And she might not be all to happy if the new command just process. And she might not be all to happy if the new command just
continues with the next step rather then aborting the process. continues with the next step rather than aborting the process.
\section{SICS Interfaces}\label{interface}\label{inter} \section{SICS Interfaces}\label{interface}\label{inter}

8
doc/programmer/motor.tex
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@ -8,7 +8,7 @@ subdivided into a driver and the logical object.
There is a problem here. There are some data fields and functions 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 must be present for any motor driver. Then there are fields
which are specific just to a special implementation of a mot 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 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 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 below. A special motor driver can add additional fields at the end of
@ -122,12 +122,12 @@ creates a simulation motor driver.
\end{description} \end{description}
\subsubsection{The Motor Logical Object} \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 is to drive motor operations and error checking. The scheme
implemented is that the motor object tries to bring the motor to its 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 position at least three times before a failure is recorded. Also the
motor object keeps track of a count of failed operations. If this 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 was put in after Druechal tried to drive over a slab of concrete for a
whole night and subsequently broke a clutch. whole night and subsequently broke a clutch.
Motors are represented by the Motors are represented by the
@ -164,7 +164,7 @@ object.
Much of the action of the motor is hidden in the implementation of the 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 drivable interface to the motor. Additionally the functions as given below
are defined. All functions take a pointer to the motor object data structure 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. otherwise.
\begin{description} \begin{description}
\item[int MotorGetPar(pMotor self, char *name, float *fVal)] retrieves the \item[int MotorGetPar(pMotor self, char *name, float *fVal)] retrieves the