From f3cce02b94b74c9b6af873965826a873520906dc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 10 May 2010 23:55:31 +0200 Subject: digital/mimot/src/dirty: add delay on find zero This is done so that hardware elasticity can move the actuator back. --- digital/mimot/src/dirty/pos.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) (limited to 'digital/mimot/src/dirty/pos.c') 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. */ -- cgit v1.2.3