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authorNicolas Schodet2010-05-10 23:55:31 +0200
committerNicolas Schodet2010-05-10 23:55:31 +0200
commitf3cce02b94b74c9b6af873965826a873520906dc (patch)
treef6b6c72961e5806280bddf6412229cfa4c24c060 /digital/mimot/src/dirty/pos.c
parentdbbad22598979ce8de9b3d8417b9b550f04f2d30 (diff)
digital/mimot/src/dirty: add delay on find zero
This is done so that hardware elasticity can move the actuator back.
Diffstat (limited to 'digital/mimot/src/dirty/pos.c')
-rw-r--r--digital/mimot/src/dirty/pos.c6
1 files changed, 5 insertions, 1 deletions
diff --git a/digital/mimot/src/dirty/pos.c b/digital/mimot/src/dirty/pos.c
index ef6475c2..28684414 100644
--- a/digital/mimot/src/dirty/pos.c
+++ b/digital/mimot/src/dirty/pos.c
@@ -103,7 +103,11 @@ pos_update_single (struct state_t *state, struct pos_t *pos,
pos->blocked_counter++;
else
pos->blocked_counter = 0;
- if (!(state->variant & 4)
+ if (state->variant & 1)
+ {
+ pos_reset (pos);
+ }
+ else if (!(state->variant & 4)
&& pos->blocked_counter > pos->blocked_counter_limit)
{
/* Blocked. */