From 6f4f01a872006388d38278215248dbc33897f854 Mon Sep 17 00:00:00 2001
From: Malaurie Bernard <mbernard@kinouby>
Date: Fri, 28 Jul 2023 12:48:44 +0200
Subject: [PATCH] Adding code so the motor turns in function of the clockwise
equals push attribute
---
syringefilled.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/syringefilled.cpp b/syringefilled.cpp
index b278c73..a643495 100644
--- a/syringefilled.cpp
+++ b/syringefilled.cpp
@@ -186,11 +186,11 @@ void SyringeFilled :: start_exchange()
if (get_push()) //If we want to deliver some liquid
{
- move_mm_limit_switch(exchange_volume_mm3/section_mm2);
+ move_mm_limit_switch(_clockwise_equals_push? exchange_volume_mm3/section_mm2: -exchange_volume_mm3/section_mm2);
}
else //If we want to recover some liquid
{
- move_to_mm_limit_switch(exchange_volume_mm3/section_mm2);
+ move_to_mm_limit_switch(_clockwise_equals_push? -exchange_volume_mm3/section_mm2: exchange_volume_mm3/section_mm2);
}
@@ -213,7 +213,7 @@ void SyringeFilled :: go_to_zero()
{
set_speed_mm_per_sec(-1);
reset_position();
- move_to_mm_limit_switch(-200);
+ move_to_mm_limit_switch(_clockwise_equals_push? -200: 200);
}
}
@@ -264,7 +264,7 @@ if (get_emergency())
Serial.printf("EMERGENCY: running away slowly\n");
set_speed_mm_per_sec(-1);
reset_position();
- move_to_mm_limit_switch(200);
+ move_to_mm_limit_switch(_clockwise_equals_push? 200: -200);
}
}
--
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