Revision: 7659
http://playerstage.svn.sourceforge.net/playerstage/?rev=7659&view=rev
Author: thjc
Date: 2009-05-14 13:35:55 +0000 (Thu, 14 May 2009)
Log Message:
-----------
set laser to config mode before changing laser speed for PLS laser
Modified Paths:
--------------
code/player/trunk/server/drivers/laser/sicklms200.cc
Modified: code/player/trunk/server/drivers/laser/sicklms200.cc
===================================================================
--- code/player/trunk/server/drivers/laser/sicklms200.cc 2009-05-14
13:10:44 UTC (rev 7658)
+++ code/player/trunk/server/drivers/laser/sicklms200.cc 2009-05-14
13:35:55 UTC (rev 7659)
@@ -1184,6 +1184,12 @@
ssize_t len;
uint8_t packet[20];
+ if (PLSMode)
+ {
+ if (SetLaserMode() != 0)
+ RETURN_ERROR(1,"request for config mode failed");
+ }
+
for (tries = 0; tries < DEFAULT_LASER_RETRIES; tries++)
{
packet[0] = 0x20;
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