[tuxdroid-svn] r868 - firmware/tuxcore/trunk

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

Author: Paul_R
Date: 2008-01-23 12:59:48 +0100 (Wed, 23 Jan 2008)
New Revision: 868

Modified:
   firmware/tuxcore/trunk/motors.c
Log:
* Minor change on the flippers ISR


Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2008-01-23 11:52:32 UTC (rev 867)
+++ firmware/tuxcore/trunk/motors.c	2008-01-23 11:59:48 UTC (rev 868)
@@ -89,6 +89,8 @@
 uint8_t flippers_timer;
 /** Period taken by the previous movement of the flippers. */
 uint8_t flippers_revious_timer;
+
+uint8_t flippers_stop_timeout;
 /** Number of periods remaining before stopping the rotation.
  * Normally used when braking, to stop the motor after a short period of
  * inversion. */
@@ -756,8 +758,7 @@
         /* This test prevents the toggle when the flippers are pushed. The
          * flippers motor must be switched on (flippers_PWM <> 0) to toggle the
          * position */
-        if (flippers_PWM)
-            gStatus.pos ^= GSTATUS_POS_W0;  /* toggle wigs position */
+        gStatus.pos ^= GSTATUS_POS_W0;  /* toggle wings position */
 
         if (flippers_timer) /* if we need to reposition the flippers */
         {