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- Added a protocol to spuuoprt the FOCUS Pfeiffer vacuum protocol

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- Changed floor() to round() in sanslirebin
- Some changes to accomodate the new run/drive behaviour
- Added the the sps bipa command
This commit is contained in:
koennecke
2009-04-17 12:54:16 +00:00
parent 6a0449ac95
commit 28bee49727
12 changed files with 157 additions and 12 deletions
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8
tasutil.c
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@ -513,7 +513,7 @@ int TASStart(pTASdata self, SConnection * pCon, SicsInterp * pSics,
for (i = 0; i < 6; i++) {
if (motorMask[i] != 0) {
status = StartMotor(pServ->pExecutor, pSics, pCon,
tasMotorOrder[i], motorTargets[i]);
tasMotorOrder[i], RUNDRIVE, motorTargets[i]);
}
}
/*
@ -521,7 +521,7 @@ int TASStart(pTASdata self, SConnection * pCon, SicsInterp * pSics,
*/
if (motorMask[6]) {
status = StartMotor(pServ->pExecutor, pSics, pCon,
"MCV", motorTargets[6]);
"MCV", RUNDRIVE, motorTargets[6]);
if (status == 0) {
/* the error will have been reported but must be ignored */
SCSetInterrupt(pCon, eContinue);
@ -530,7 +530,7 @@ int TASStart(pTASdata self, SConnection * pCon, SicsInterp * pSics,
}
if (motorMask[8]) {
status = StartMotor(pServ->pExecutor, pSics, pCon,
"ACH", motorTargets[8]);
"ACH", RUNDRIVE, motorTargets[8]);
if (status == 0) {
/* the error will have been reported but must be ignored */
SCSetInterrupt(pCon, eContinue);
@ -788,7 +788,7 @@ float readDrivable(char *val, SConnection * pCon)
-----------------------------------------------------------------------*/
void startCurrent(char *val, SConnection * pCon, float fVal)
{
StartMotor(pServ->pExecutor, pServ->pSics, pCon, val, fVal);
StartMotor(pServ->pExecutor, pServ->pSics, pCon, val, RUNDRIVE,fVal);
}
/*-----------------------------------------------------------------------