Changeset 636

Timestamp:

07/02/09 14:50:53 (4 years ago)

Author:

balle

Message:

- update MotorControl.nxc to version 1.2

Files:

• branches/livecd/MotorControl/MotorControl.nxc (modified) (2 diffs)

branches/livecd/MotorControl/MotorControl.nxc

@@ -26 +26 @@
 */
 
-#define PROGRAM_VERSION "1.1"
+#define PROGRAM_VERSION "1.2"
 
 #define INBOX 1
@@ -85 +85 @@
     SetOutput(port, Power, pwr, TachoLimit, tacholimit, TurnRatio, turnratio, OutputMode, mode, RegMode, reg,  RunState, state, UpdateFlags, flags);
 }//end MotorCmd
+
+
+safecall void MotorCmdEx(byte port, int pwr, long tacholimit, int turnratio, bool speedreg, bool sync, byte runstate) {
+// The actual Motor-Command we use, based on IOOutputMap settings. A bit similar to the
+// SetOutputState direct command...
+
+    byte flags = UF_UPDATE_MODE + UF_UPDATE_SPEED + UF_UPDATE_TACHO_LIMIT; // + UF_UPDATE_RESET_COUNT;
+
+    byte mode = OUT_MODE_BRAKE + OUT_MODE_MOTORON;
+    byte reg  = OUT_REGMODE_IDLE;
+    byte state = runstate;
+
+    if (speedreg) {
+        mode = mode + OUT_MODE_REGULATED;
+        reg  = OUT_REGMODE_SPEED;
+    }//end if
+
+    if (sync) {
+        mode = mode + OUT_MODE_REGULATED;
+        reg  = OUT_REGMODE_SYNC;
+    }//end if
+
+    SetOutput(port, Power, pwr, TachoLimit, tacholimit, TurnRatio, turnratio, OutputMode, mode, RegMode, reg,  RunState, state, UpdateFlags, flags);
+}//end MotorCmd
+
+
+
+
+