KozmotronikTech/relay_chn
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Fix movement transition issue.

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When transitioning the movements directly the channel should be stopped first.
This commit is contained in:
Ismail Sahillioglu
2025-02-21 17:52:19 +03:00
parent 102918fdc3
commit 349868a148
1 changed files with 4 additions and 1 deletions
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5
src/relay_chn.c
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@@ -484,11 +484,14 @@ static void relay_chn_issue_cmd(relay_chn_t* relay_chn, relay_chn_cmd_t cmd)
relay_chn_dispatch_cmd(relay_chn, cmd); relay_chn_dispatch_cmd(relay_chn, cmd);
return; return;
} }
if (relay_chn->run_info.last_run_cmd == cmd) { if (relay_chn->run_info.last_run_cmd == cmd) {
// If the last run command is the same as the current command, do nothing // If the last run command is the same as the current command, do nothing
return; return;
} }
// Stop the channel first before the schedule
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
// If the last run command is different from the current command, wait for the opposite inertia time // If the last run command is different from the current command, wait for the opposite inertia time
relay_chn->pending_cmd = cmd; relay_chn->pending_cmd = cmd;