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From: <pr...@us...> - 2003-08-15 20:10:49
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Update of /cvsroot/emc/emc/src/emcmot
In directory sc8-pr-cvs1:/tmp/cvs-serv26737
Modified Files:
emcsegmot.c
Log Message:
Oops, checked in the wrong version which has some compile errors. This
is the correct one.
Index: emcsegmot.c
===================================================================
RCS file: /cvsroot/emc/emc/src/emcmot/emcsegmot.c,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** emcsegmot.c 15 Aug 2003 20:00:58 -0000 1.5
--- emcsegmot.c 15 Aug 2003 20:01:54 -0000 1.6
***************
*** 1088,1091 ****
--- 1088,1093 ----
*/
+ static int use_tc = 1;
+
static int coord_set_cycle_time(double secs)
{
***************
*** 1120,1124 ****
}
! static int coord_add_line(PmPose pos, int id)
{
int retval;
--- 1122,1126 ----
}
! static int coord_add_line(EmcPose pos, int id)
{
int retval;
***************
*** 1134,1138 ****
}
! static int coord_add_circle(PmPose pos, PmCartesian center, PmCartesian normal, int turn, int id)
{
int retval;
--- 1136,1140 ----
}
! static int coord_add_circle(EmcPose pos, PmCartesian center, PmCartesian normal, int turn, int id)
{
int retval;
***************
*** 1142,1146 ****
retval = tpAddCircle(&emcmotDebug->queue, pos, center, normal, turn);
} else {
! retval = sqAddLine(&queue, pos, center, normal, turn, id);
}
--- 1144,1148 ----
retval = tpAddCircle(&emcmotDebug->queue, pos, center, normal, turn);
} else {
! retval = sqAddCircle(&queue, pos, center, normal, turn, id);
}
***************
*** 1205,1210 ****
static int coord_step(void)
{
- int retval;
-
if (use_tc) {
tpResume(&emcmotDebug->queue);
--- 1207,1210 ----
***************
*** 1258,1262 ****
}
! static int coord_set_pos(PmPose pos)
{
if (use_tc) {
--- 1258,1262 ----
}
! static int coord_set_pos(EmcPose pos)
{
if (use_tc) {
***************
*** 1280,1284 ****
}
! static int coord_get_pos(PmPose * pos)
{
if (use_tc) {
--- 1280,1284 ----
}
! static int coord_get_pos(EmcPose * pos)
{
if (use_tc) {
***************
*** 1363,1367 ****
/* nothing need be done for segment queue */
! return;
}
--- 1363,1367 ----
/* nothing need be done for segment queue */
! return 0;
}
***************
*** 1383,1387 ****
/* set traj planner */
! coordSetCycleTime(secs);
/* set the free planners, cubic interpolation rate and segment time */
--- 1383,1387 ----
/* set traj planner */
! coord_set_cycle_time(secs);
/* set the free planners, cubic interpolation rate and segment time */
***************
*** 2078,2082 ****
tpResume(&emcmotDebug->freeAxis[axis]);
}
! coord_resume(&emcmotDebug->queue);
emcmotStatus->paused = 0;
break;
--- 2078,2082 ----
tpResume(&emcmotDebug->freeAxis[axis]);
}
! coord_resume();
emcmotStatus->paused = 0;
break;
***************
*** 3440,3444 ****
if (! emcmotDebug->wasOnLimit) {
/* abort everything, regardless of coord or free mode */
! coord_abort()
for (axis = 0; axis < EMCMOT_MAX_AXIS; axis++) {
tpAbort(&emcmotDebug->freeAxis[axis]);
--- 3440,3444 ----
if (! emcmotDebug->wasOnLimit) {
/* abort everything, regardless of coord or free mode */
! coord_abort();
for (axis = 0; axis < EMCMOT_MAX_AXIS; axis++) {
tpAbort(&emcmotDebug->freeAxis[axis]);
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