From 37ee298c4b7ae134f1a00c59e02641a8e654731b Mon Sep 17 00:00:00 2001
From: Bernard Blackham <dagobah@ucc.asn.au>
Date: Mon, 21 Jun 2004 14:07:42 +0000
Subject: [PATCH] To romP
---
ROM2/motors.c | 8 +++-----
1 file changed, 3 insertions(+), 5 deletions(-)
diff --git a/ROM2/motors.c b/ROM2/motors.c
index 13316ff..725c93e 100644
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -99,29 +99,27 @@ bool left_home(u8 slot) {
if (r >= 5) r--;
r = 1 << (r-1);
for (i = 0; i < 1000; i++) {
- if ((home_sensors & r) == 0) return 1;
+ if ((home_sensors & r) != 0) return 1;
delay(1);
}
/* it never left */
return 0;
}
-#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==0)
-
bool back_home(u8 slot) {
u8 i, r = slot%10;
if (r >= 5) r--;
r = 1 << (r-1);
for (i = 0; i < 5; i++) {
- if ((home_sensors & r) != 0) return 1;
- if (is_overcurrent()) return MOTOR_CURRENT_FAIL;
+ if ((home_sensors & r) == 0) return 1;
}
/* it never arrived */
return 0;
}
+#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==0)
bool motor_overcurrent() {
u8 good_passes = 0, t;
for (t = 0; t < 8; t++) {
--
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