From 3980140af2a1f447ae8bb475cf23808ef614e7b1 Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Mon, 12 Dec 2016 17:21:10 +0100
Subject: [PATCH] Fix issues #27 and #28
---
source/Motor.m | 25 ++++++++++++++++---------
1 file changed, 16 insertions(+), 9 deletions(-)
diff --git a/source/Motor.m b/source/Motor.m
index 386fab4..1756ed1 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -452,31 +452,38 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
+ % Keep 'slave'-motor synchronized
+ syncMotor.speedRegulation = false;
+ syncMotor.limitValue= motor.limitValue;
+ syncMotor.brakeMode = motor.brakeMode;
+ syncMotor.power = motor.power;
+
+ % Save old states
+ motor.saveState();
+ syncMotor.saveState();
+
% Cache old values to make it possible to reset them on syncedStop
% Note: the existence of 'slave' is also used to determine whether motor is
% running synchronized or not, see get.isSynced()
motor.addProperty(syncMotor, 'slave', true);
syncMotor.addProperty(motor, 'master', true);
- motor.saveState();
- syncMotor.saveState();
% Disable immediate sending of new power values
motor.state.sendPowerOnSet = false;
syncMotor.state.sendPowerOnSet = false;
- % Keep 'slave'-motor synchronized
- syncMotor.speedRegulation = false;
- syncMotor.limitValue= motor.limitValue;
- syncMotor.brakeMode = motor.brakeMode;
- syncMotor.power = motor.power;
+ % Synchronous running is a 'busy'-operation
+ motor.state.startedNotBusy = false;
+ syncMotor.state.startedNotBusy = false;
+
if strcmpi(motor.limitMode, 'Tacho')
motor.commInterface.outputStepSync(0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
motor.limitValue, motor.brakeMode_);
if motor.debug
- fprintf(['(DEBUG) SyncMotor::syncedStart: Called outputStepSync on ' ,...
+ fprintf(['(DEBUG) Motor::syncedStart: Called outputStepSync on ' ,...
'Ports %s and %s.\n'], port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
end
elseif strcmpi(motor.limitMode, 'Time')
@@ -484,7 +491,7 @@ classdef Motor < MaskedHandle & dynamicprops
motor.power, turnRatio, ...
motor.limitValue, motor.brakeMode_);
if motor.debug
- fprintf('(DEBUG) SyncMotor::start: Called outputStepSync on Ports %s and %s.\n',...
+ fprintf('(DEBUG) Motor::start: Called outputStepSync on Ports %s and %s.\n',...
port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
end
end
--
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