if ( rotor_param.m_inputpower_parameters.m_use )
{ // use measure rotor input power to detect rotor state
if ( rotor_param.m_inputpower_parameters.m_use )
{ // use measure rotor input power to detect rotor state
sec_sequence.push_back( eSecCommand(eSecCommand::IF_INPUTPOWER_DELTA_GOTO, cmd ) ); // check if rotor has started
sec_sequence.push_back( eSecCommand(eSecCommand::IF_TIMEOUT_GOTO, +2 ) ); // timeout .. we assume now the rotor is already at the correct position
sec_sequence.push_back( eSecCommand(eSecCommand::GOTO, -4) ); // goto loop start
sec_sequence.push_back( eSecCommand(eSecCommand::IF_INPUTPOWER_DELTA_GOTO, cmd ) ); // check if rotor has started
sec_sequence.push_back( eSecCommand(eSecCommand::IF_TIMEOUT_GOTO, +2 ) ); // timeout .. we assume now the rotor is already at the correct position
sec_sequence.push_back( eSecCommand(eSecCommand::GOTO, -4) ); // goto loop start
sec_sequence.push_back( eSecCommand(eSecCommand::SET_VOLTAGE, VOLTAGE(18)) );
sec_sequence.push_back( eSecCommand(eSecCommand::SET_TIMEOUT, m_params[MOTOR_RUNNING_TIMEOUT]*20) ); // 2 minutes running timeout
// rotor running loop
sec_sequence.push_back( eSecCommand(eSecCommand::SLEEP, 50) ); // wait 50msec
sec_sequence.push_back( eSecCommand(eSecCommand::MEASURE_RUNNING_INPUTPOWER) );
cmd.direction=0; // check for stopped rotor
sec_sequence.push_back( eSecCommand(eSecCommand::SET_VOLTAGE, VOLTAGE(18)) );
sec_sequence.push_back( eSecCommand(eSecCommand::SET_TIMEOUT, m_params[MOTOR_RUNNING_TIMEOUT]*20) ); // 2 minutes running timeout
// rotor running loop
sec_sequence.push_back( eSecCommand(eSecCommand::SLEEP, 50) ); // wait 50msec
sec_sequence.push_back( eSecCommand(eSecCommand::MEASURE_RUNNING_INPUTPOWER) );
cmd.direction=0; // check for stopped rotor
sec_sequence.push_back( eSecCommand(eSecCommand::GOTO, -4) ); // running loop start
/////////////////////
sec_sequence.push_back( eSecCommand(eSecCommand::UPDATE_CURRENT_ROTORPARAMS) );
sec_sequence.push_back( eSecCommand(eSecCommand::GOTO, -4) ); // running loop start
/////////////////////
sec_sequence.push_back( eSecCommand(eSecCommand::UPDATE_CURRENT_ROTORPARAMS) );