[tuxdroid-svn] r844 - daemon/trunk firmware/tuxdefs

[Paul_R <c2m...@c2...>]

Author: Paul_R
Date: 2008-01-11 15:39:01 +0100 (Fri, 11 Jan 2008)
New Revision: 844

Modified:
   daemon/trunk/movements.c
   firmware/tuxdefs/defines.h
Log:
* Added a new final position (FP_STOP) to stop the movements.


Modified: daemon/trunk/movements.c
===================================================================
--- daemon/trunk/movements.c	2008-01-11 13:06:55 UTC (rev 843)
+++ daemon/trunk/movements.c	2008-01-11 14:39:01 UTC (rev 844)
@@ -130,6 +130,18 @@
                 single_movement(motor, final_state);
             break;
         }
+    case (MOT_SPIN_R):
+        {
+            if (!(value) && final_state == FP_STOP)
+                single_movement(motor, final_state);
+            break;
+        }
+    case (MOT_SPIN_L):
+        {
+            if (!(value) && final_state == FP_STOP)
+                single_movement(motor, final_state);
+            break;
+        }
     }
     return value;
 }
@@ -174,24 +186,38 @@
     {
     case (MOT_EYES):
         if (final_state == FP_OPEN)
-        send_usb_tux_cmd(OPEN_EYES_CMD, 0, 0, 0);
+            send_usb_tux_cmd(OPEN_EYES_CMD, 0, 0, 0);
         else if (final_state == FP_CLOSE)
             send_usb_tux_cmd(CLOSE_EYES_CMD, 0, 0, 0);
+        else if (final_state == FP_STOP)
+            send_usb_tux_cmd(STOP_EYES_CMD, 0, 0, 0);
         break;
 
     case (MOT_MOUTH):
         if (final_state == FP_OPEN)
-        send_usb_tux_cmd(OPEN_MOUTH_CMD, 0, 0, 0);
+            send_usb_tux_cmd(OPEN_MOUTH_CMD, 0, 0, 0);
         else if (final_state == FP_CLOSE)
             send_usb_tux_cmd(CLOSE_MOUTH_CMD, 0, 0, 0);
+        else if (final_state == FP_STOP)
+            send_usb_tux_cmd(STOP_MOUTH_CMD, 0, 0, 0);
         break;
 
     case (MOT_FLIPPERS):
         if (final_state == FP_UP)
-        send_usb_tux_cmd(RAISE_WINGS_CMD, 0, 0, 0);
+            send_usb_tux_cmd(RAISE_WINGS_CMD, 0, 0, 0);
         else if (final_state == FP_DOWN)
             send_usb_tux_cmd(LOWER_WINGS_CMD, 0, 0, 0);
+        else if (final_state == FP_STOP)
+            send_usb_tux_cmd(STOP_WINGS_CMD, 0, 0, 0);
         break;
+    case (MOT_SPIN_L):
+        if (final_state == FP_STOP)
+            send_usb_tux_cmd(STOP_SPIN_CMD, 0, 0, 0);
+        break;
+    case (MOT_SPIN_R):
+        if (final_state == FP_STOP)
+            send_usb_tux_cmd(STOP_SPIN_CMD, 0, 0, 0);
+        break;
     }
 }
 
@@ -228,6 +254,10 @@
     int ack, value;
     char type = 0;
 
+    if (motor == (MOT_SPIN_L) || motor == (MOT_SPIN_R))
+       if (final_state != FP_STOP)
+          final_state = FP_UNDEFINED; 
+
     /*
      * Refresh has the maximum priority. If it's set, only the command to
      * refresh the PWM value is sent to Tux

Modified: firmware/tuxdefs/defines.h
===================================================================
--- firmware/tuxdefs/defines.h	2008-01-11 13:06:55 UTC (rev 843)
+++ firmware/tuxdefs/defines.h	2008-01-11 14:39:01 UTC (rev 844)
@@ -223,6 +223,7 @@
     FP_UP = 1,
     FP_CLOSE = 2,
     FP_DOWN = 2,
+    FP_STOP = 3,
 } MOT_FINAL_POS_t;
 
 /**