[tuxdroid-svn] r755 - firmware/tuxcore/trunk

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

Author: Paul_R
Date: 2007-12-06 16:58:49 +0100 (Thu, 06 Dec 2007)
New Revision: 755

Modified:
   firmware/tuxcore/trunk/motors.c
Log:
* Fixed a bug when the spin direction change.


Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2007-12-06 15:51:41 UTC (rev 754)
+++ firmware/tuxcore/trunk/motors.c	2007-12-06 15:58:49 UTC (rev 755)
@@ -679,7 +679,6 @@
 void spin_left(uint8_t const angle, uint8_t const pwm)
 {
     gStatus.mot |= GSTATUS_MOT_SPIN;
-    spin_direction = LEFT;
     spin_move_counter = angle;
     /* If the rotation direction is changing and we are not stopped exactly on
      * the switch (position switch not pressed), we need to increment the angle
@@ -687,6 +686,7 @@
      * soon as the rotation starts. */
     if ((spin_direction == RIGHT) && (PSW_SPIN_PIN & PSW_SPIN_MK))
         spin_move_counter++;
+    spin_direction = LEFT;
     spin_PWM = pwm;
     spin_PWM_mask &= ~MOT_SPIN_R_MK;
     spin_PWM_mask |= MOT_SPIN_L_MK;
@@ -701,7 +701,6 @@
 void spin_right(uint8_t const angle, uint8_t const pwm)
 {
     gStatus.mot |= GSTATUS_MOT_SPIN;
-    spin_direction = RIGHT;
     spin_move_counter = angle;
     /* If the rotation direction is changing and we are not stopped exactly on
      * the switch (position switch not pressed), we need to increment the angle
@@ -709,6 +708,7 @@
      * soon as the rotation starts. */
     if ((spin_direction == LEFT) && (PSW_SPIN_PIN & PSW_SPIN_MK))
         spin_move_counter++;
+    spin_direction = RIGHT;
     spin_PWM = pwm;
     spin_PWM_mask &= ~MOT_SPIN_L_MK;
     spin_PWM_mask |= MOT_SPIN_R_MK;