Changeset 1804 for trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

Timestamp:

03/02/03 17:08:13 (22 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (modified) (2 diffs)

trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

@@ -252 +252 @@
 
     //
+    // Request Lifetimefactor for unknown reason to make guarding
+    // working in SE/Az... (FIXME)
+    //
+    //    lout << "- " << GetNodeName() << ": Requesting Lifetimefactor (Workaround, FIXME!) (SDO 0x100d)." << endl;
+    //    RequestSDO(0x100c);
+    //    WaitForSdo(0x100c);
+    //    RequestSDO(0x100d);
+    //    WaitForSdo(0x100d);
+
+    //
     // Set logic ticks/revolution = physical ticks/revolution => scale factor = 1
     //
@@ -291 +301 @@
     SendNMT(kNMT_START);
 
-    StartGuarding(175, 2);
+    /*
+     cout << "---1---" << endl;
+     MTimeout t(1000);
+     while (!t.HasTimedOut())
+      usleep(1);
+     cout << "---2---" << endl;
+     */
+
+    //    StartGuarding(175, 2); // 175
+    // StartGuarding(10*GetId(), 2); // 175
 }