From: Mikko Rasa <tdb@tdb.fi>
Date: Sun, 5 Apr 2015 08:50:44 +0000 (+0300)
Subject: Improve accessory turn-off logic in arducontrol driver
X-Git-Url: http://git.tdb.fi/?a=commitdiff_plain;h=bb7e754473aea2083c406b94060b9982c66f7473;p=r2c2.git

Improve accessory turn-off logic in arducontrol driver

In some cases the limit switch won't trigger properly, so we can't rely
on the current dropping to determine success.
---

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 8aced3b..3fc9f57 100644
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -503,9 +503,11 @@ void ArduControl::tick()
 
 	if(active_accessory && off_timeout)
 	{
-		bool success = (monitor.get_peak()>0.35f && monitor.get_current()<monitor.get_peak()-0.2f);
+		bool got_peak = monitor.get_peak()>0.0f;
+		bool success = monitor.get_peak()>0.42f;
+		bool complete = (success && monitor.get_current()<monitor.get_peak()-0.2f);
 		Time::TimeStamp t = Time::now();
-		if(t>off_timeout || success)
+		if((t>off_timeout && got_peak) || complete)
 		{
 			Accessory &acc = *active_accessory;