From deac3b8b66af0f499d6da73cf5bf8479c7d9fad9 Mon Sep 17 00:00:00 2001
From: Bernard Blackham <dagobah@ucc.asn.au>
Date: Mon, 21 Jun 2004 11:00:51 +0000
Subject: [PATCH] Fix motor off by one errors. More useful error messages To
romK
---
ROM2/main_basic.c | 16 ++++++++++++++--
ROM2/motors.c | 4 ++--
2 files changed, 16 insertions(+), 4 deletions(-)
diff --git a/ROM2/main_basic.c b/ROM2/main_basic.c
index fc736d7..ae25a79 100644
--- a/ROM2/main_basic.c
+++ b/ROM2/main_basic.c
@@ -242,9 +242,21 @@ int main() {
motor_num = cur_motor[0]%10;
motor_num *= 10;
motor_num += cur_motor[1];
- dispense_motor(motor_num);
+ switch (dispense_motor(motor_num)) {
+ case MOTOR_HOME_FAIL:
+ set_msg(" HOME FAIL ");
+ break;
+ case MOTOR_CURRENT_FAIL:
+ set_msg(" OVER CRNT ");
+ break;
+ case MOTOR_SUCCESS:
+ set_msg("THANK YOU");
+ break;
+ default:
+ set_msg("ERRRRRRRR?");
+ break;
+ }
- set_msg("THANK YOU");
display_buf[0] = ' ';
display_buf[1] = ' ';
cur_motor[0] = 0xff;
diff --git a/ROM2/motors.c b/ROM2/motors.c
index 765c1b7..64158ae 100644
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -97,7 +97,7 @@ bool is_motor(u8 slot) {
bool left_home(u8 slot) {
u8 i, r = slot%10;
if (r >= 5) r--;
- r = 1 << r;
+ r = 1 << (r-1);
for (i = 0; i < 5; i++)
if ((home_sensors & r) == 0) return 1;
@@ -109,7 +109,7 @@ bool left_home(u8 slot) {
bool back_home(u8 slot) {
u8 i, r = slot%10;
if (r >= 5) r--;
- r = 1 << r;
+ r = 1 << (r-1);
for (i = 0; i < 5; i++) {
if (home_sensors & r) return 1;
--
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