From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Mon, 17 Jul 2017 20:33:06 +0000 (-0700)
Subject: Disabled switches cannot be active
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=4dbc5a528fc7f47006ea4f87a45c7ae2e5bac306;p=bbctrl-firmware

Disabled switches cannot be active
---

diff --git a/avr/src/plan/jog.c b/avr/src/plan/jog.c
index 631047a..38315b6 100644
--- a/avr/src/plan/jog.c
+++ b/avr/src/plan/jog.c
@@ -111,6 +111,8 @@ static float _compute_axis_velocity(int axis) {
   // Compute target accel
   float accel = sqrt(jerk * fabs(Vt - V)) * (Vt < V ? -1 : 1);
 
+  // TODO apply max accel here
+
   // Compute max delta accel
   float deltaAccel = jerk * SEGMENT_TIME;
 
diff --git a/avr/src/switch.c b/avr/src/switch.c
index 3508cff..489c554 100644
--- a/avr/src/switch.c
+++ b/avr/src/switch.c
@@ -125,8 +125,12 @@ void switch_rtc_callback() {
 
 
 bool switch_is_active(int index) {
-  // A normally open switch drives the pin low when thrown
-  return (switches[index].type == SW_NORMALLY_OPEN) ^ switches[index].state;
+  switch (switches[index].type) {
+  case SW_DISABLED: break; // A disabled switch cannot be active
+  case SW_NORMALLY_OPEN: return !switches[index].state;
+  case SW_NORMALLY_CLOSED: return switches[index].state;
+  }
+  return false;
 }