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authorNicolas Schodet2010-06-13 17:49:42 +0200
committerNicolas Schodet2010-08-19 23:24:12 +0200
commit495cc1df494505378977995eeb76b05f20f0b235 (patch)
treef7c52ae59cad0e96f1aff1736d31cb8624676812 /AT91SAM7S256/Source/d_output.c
parentba78bd9ba834260d035a9830726afc34fdad2a15 (diff)
import firmware from LEGO v1.29lego-1.29lego
Diffstat (limited to 'AT91SAM7S256/Source/d_output.c')
-rw-r--r--AT91SAM7S256/Source/d_output.c17
1 files changed, 14 insertions, 3 deletions
diff --git a/AT91SAM7S256/Source/d_output.c b/AT91SAM7S256/Source/d_output.c
index e542cf6..d953b84 100644
--- a/AT91SAM7S256/Source/d_output.c
+++ b/AT91SAM7S256/Source/d_output.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 5-02-07 13:48 $
+// Revision date $Date:: 3-02-09 14:46 $
//
// Filename $Workfile:: d_output.c $
//
-// Version $Revision:: 118 $
+// Version $Revision:: 2 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_output.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_outp $
//
// Platform C
//
@@ -906,6 +906,16 @@ void dOutputSyncMotorPosition(UBYTE MotorOne, UBYTE MotorTwo)
SyncData.SyncTachoDif += SyncData.SyncTurnParameter;
+ if (SyncData.SyncTachoDif > 500)
+ {
+ SyncData.SyncTachoDif = 500;
+ }
+ if (SyncData.SyncTachoDif < -500)
+ {
+ SyncData.SyncTachoDif = -500;
+ }
+
+ /*
if ((SWORD)SyncData.SyncTachoDif > 500)
{
SyncData.SyncTachoDif = 500;
@@ -914,6 +924,7 @@ void dOutputSyncMotorPosition(UBYTE MotorOne, UBYTE MotorTwo)
{
SyncData.SyncTachoDif = -500;
}
+ */
PValue = (SWORD)SyncData.SyncTachoDif * (SWORD)(MotorData[MotorOne].RegPParameter/REG_CONST_DIV);