Introduce named constant for cycle mode

and use it.
Yaskawa-Global · May 20, 2024 · 13d491f · 13d491f
1 parent 17cb2d5
commit 13d491f
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/src/MotionControl.c b/src/MotionControl.c
@@ -1437,7 +1437,7 @@ BOOL Ros_MotionControl_StartMotionMode(MOTION_MODE mode)
         MP_CYCLE_SEND_DATA sCycleData;
         bzero(&sCycleData, sizeof(sCycleData));
         bzero(&rData, sizeof(rData));
-        sCycleData.sCycle = 3;  // 3 = Auto; 2 = Cycle; 1 = Step
+        sCycleData.sCycle = MP_CYCLE_MODE_AUTO;
         ret = mpSetCycle(&sCycleData, &rData);
         if( (ret != 0) || (rData.err_no != 0) ) 
         {

diff --git a/src/MotoPlusExterns.h b/src/MotoPlusExterns.h
@@ -32,4 +32,10 @@ extern MP_GRP_ID_TYPE mpCtrlGrpNo2GrpId(int grp_no);
 #define E_EXRCS_UNDER_ENERGY_SAVING         (-20)
 #endif
 
+//from the M+ API Function Specifications on mpSetCycle(..) (HW1483602)
+#define MP_CYCLE_MODE_STEP 1
+#define MP_CYCLE_MODE_1CYCLE 2
+#define MP_CYCLE_MODE_AUTO 3
+
+
 #endif // MOTOROS2_MOTOPLUS_EXTERNS_H