From f0e0cbf6f71b67c1bea203ea38aad7ef0a3f5926 Mon Sep 17 00:00:00 2001 From: tmj-fstate Date: Thu, 18 Apr 2019 15:54:35 +0200 Subject: [PATCH] eimic value calculation fix --- McZapkie/Mover.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/McZapkie/Mover.cpp b/McZapkie/Mover.cpp index 8d81b9c3..3aaa4d88 100644 --- a/McZapkie/Mover.cpp +++ b/McZapkie/Mover.cpp @@ -6080,7 +6080,11 @@ void TMoverParameters::CheckEIMIC(double dt) eimic += clamp(UniCtrlList[MainCtrlPos].SetCtrlVal - eimic, 0.0, dt * UniCtrlList[MainCtrlPos].SpeedUp); //dodawaj do X eimic = clamp(eimic, UniCtrlList[MainCtrlPos].MinCtrlVal, UniCtrlList[MainCtrlPos].MaxCtrlVal); } - eimic = clamp(eimic, -1.0, ( ( true == Mains ) || ( Power == 0.0 ) ) ? 1.0 : 0.0); + auto const eimicpowerenabled { + ( ( true == Mains ) || ( Power == 0.0 ) ) + && ( ( Doors.instances[ side::left ].open_permit == false ) + && ( Doors.instances[ side::right ].open_permit == false ) ) }; + eimic = clamp(eimic, -1.0, eimicpowerenabled ? 1.0 : 0.0); } void TMoverParameters::CheckSpeedCtrl()