[tuxdroid-svn] r762 - firmware/tuxcore/trunk

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

Author: Paul_R
Date: 2007-12-07 11:04:27 +0100 (Fri, 07 Dec 2007)
New Revision: 762

Modified:
   firmware/tuxcore/trunk/motors.c
Log:
* Added a check when the spin direction is changing, to not increment the counter when an infinite movement is required.


Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2007-12-06 17:37:00 UTC (rev 761)
+++ firmware/tuxcore/trunk/motors.c	2007-12-07 10:04:27 UTC (rev 762)
@@ -682,7 +682,8 @@
      * value to prevent counting the first switch detection that will happen as
      * soon as the rotation starts. */
     if ((spin_direction == RIGHT) && (PSW_SPIN_PIN & PSW_SPIN_MK))
-        spin_move_counter++;
+        if (spin_move_counter)
+            spin_move_counter++;
     spin_direction = LEFT;
     spin_PWM = pwm;
     spin_PWM_mask &= ~MOT_SPIN_R_MK;
@@ -704,7 +705,8 @@
      * value to prevent counting the first switch detection that will happen as
      * soon as the rotation starts. */
     if ((spin_direction == LEFT) && (PSW_SPIN_PIN & PSW_SPIN_MK))
-        spin_move_counter++;
+        if (spin_move_counter)
+            spin_move_counter++;
     spin_direction = RIGHT;
     spin_PWM = pwm;
     spin_PWM_mask &= ~MOT_SPIN_L_MK;