Diff: main.cpp

Revision:

28:0534c86365ec

Parent:

27:3d382b6e60ba

Child:

29:25a875d09817

--- a/main.cpp	Sun May 19 08:05:56 2019 +0000
+++ b/main.cpp	Mon May 20 07:51:35 2019 +0000
@@ -599,21 +599,22 @@
                     posError=higLim;
                     //posError=0.0f;
                     //motor->soft_hiz();
+                    //aspettareSincro=1;
+                    //stopCicloTB=1;
                 }
                 if (posError<lowLim) {
                     posError=lowLim;
+                    //aspettareSincro=1;
+                    //stopCicloTB=1;
                 }
-                if ((posError >=1.0f)||(posError<=-1.0f)) {
+                if (((posError >=1.0f)||(posError<=-1.0f))) {
                     #if defined(runner)
-                        ePpos = periodo *(1.0f+ ((posError/divide)));
+                        double variante = posError/divide;
+                        if (variante < -0.999f){variante=-0.999;}
+                        ePpos = periodo *(1.0f+ variante);
                     #else
                         ePpos = periodo /(1.0f+ ((posError/divide)));
                     #endif
-                    #if defined(pcSerial)
-                        #if defined(checkLoop)
-                            pc.printf("12a ePpos:%f\n",ePpos);
-                        #endif
-                    #endif
                     if (ePpos>0.0f) {
                         cambiaTB(ePpos);
                     } else {
@@ -714,7 +715,7 @@
         loadDaCanInCorso=1;
         stopCicloTB=0;
     }
-    if ((stopCicloTB==1)&&(TBactualPosition>5)) {
+    if ((stopCicloTB==1)&&(TBactualPosition>5)&&(TBactualPosition<50)) {
         #if defined(pcSerial)
             #if defined(checkLoop)
                 pc.printf("14c\n");
@@ -1196,7 +1197,7 @@
                 if ((flags&0x08)==0x08) {
                     drumSelect=true;     // usare per selezione del tamburo =0 meccanico =1 PNEUMATICO
                 } else {
-                    drumSelect=false;
+                    // drumSelect=false;    // forzato a true per Germania
                 }
                 if ((flags&0x10)==0x10) {
                     canDataCheckEnable=true;