Author: jaguarondi
Date: 2008-08-20 09:48:18 +0200 (Wed, 20 Aug 2008)
New Revision: 1557
Modified:
firmware/tuxcore/trunk/motors.c
Log:
* Added a protection timeout on the eyes motor.
Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c 2008-08-20 07:09:13 UTC (rev 1556)
+++ firmware/tuxcore/trunk/motors.c 2008-08-20 07:48:18 UTC (rev 1557)
@@ -45,6 +45,8 @@
* in the close position. There's no need to brake the motor when opening the
* eyes with this gearbox design. */
#define EYES_BRAKING_DLY 4
+/** Protection timeout for the eyes. */
+#define EYES_TIMEOUT 100
/** Delay during which the motor is inverted when braking the mouth to stop it
* in the open or close position. */
#define MOUTH_BRAKING_DLY 8
@@ -349,7 +351,7 @@
{
gStatus.mot |= GSTATUS_MOT_EYES;
eyes_move_counter = cnt;
- //eyes_stop_delay = 0;
+ eyes_stop_delay = EYES_TIMEOUT;
run_eyes_motor();
}
@@ -444,6 +446,7 @@
if (eyes_move_counter)
{
eyes_move_counter--;
+ eyes_stop_delay = EYES_TIMEOUT;
if (!eyes_move_counter)
{
stop_eyes_motor();
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