From 030dc689a52f2e4b6762654efae7a7fcd4c06ec0 Mon Sep 17 00:00:00 2001
From: "Janet B. Anderson" <jba@aps.anl.gov>
Date: Thu, 18 Apr 1991 14:08:39 +0000
Subject: [PATCH] jba 4/18/91

---
 src/rec/recAo.c           | 2 +-
 src/rec/recMbbi.c         | 2 +-
 src/rec/recMbbo.c         | 5 ++---
 src/rec/recPid.c          | 6 +++---
 src/rec/recSteppermotor.c | 1 +
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/rec/recAo.c b/src/rec/recAo.c
index 4ac355f41..b98e36f63 100644
--- a/src/rec/recAo.c
+++ b/src/rec/recAo.c
@@ -375,7 +375,7 @@ static int convert(pao)
                 if (pao->oif == OUTPUT_INCREMENTAL) value += pao->val;
         } else value = pao->val;
 
-	if(value>0.0 && value<udfFtest) {
+	if(value>0.0 && value<udfDtest) {
 		if(pao->nsev<VALID_ALARM) {
 			pao->nsta = SOFT_ALARM;
 			pao->nsev = VALID_ALARM;
diff --git a/src/rec/recMbbi.c b/src/rec/recMbbi.c
index 7c9fa9bec..0336ef138 100644
--- a/src/rec/recMbbi.c
+++ b/src/rec/recMbbi.c
@@ -272,7 +272,7 @@ static long get_enum_strs(paddr,pes)
 
     pes->no_str = 16;
     bzero(pes->strs,sizeof(pes->strs));
-    for(i=0,psource=(pmbbi->zrst); i<15; i++, psource += sizeof(pmbbi->zrst) ) 
+    for(i=0,psource=(pmbbi->zrst); i<pes->no_str; i++, psource += sizeof(pmbbi->zrst) ) 
 	strncpy(pes->strs[i],psource,sizeof(pmbbi->zrst));
     return(0);
 }
diff --git a/src/rec/recMbbo.c b/src/rec/recMbbo.c
index a022cfcca..b7857fbc9 100644
--- a/src/rec/recMbbo.c
+++ b/src/rec/recMbbo.c
@@ -144,8 +144,6 @@ static long init_record(pmbbo)
     long status;
     int	i;
 
-    init_common(pmbbo);
-
     if(!(pdset = (struct mbbodset *)(pmbbo->dset))) {
 	recGblRecordError(S_dev_noDSET,pmbbo,"mbbo: init_record");
 	return(S_dev_noDSET);
@@ -193,6 +191,7 @@ static long init_record(pmbbo)
             }
         }
     }
+    init_common(pmbbo);
     return(0);
 }
 
@@ -327,7 +326,7 @@ static long get_enum_strs(paddr,pes)
 
     pes->no_str = 16;
     bzero(pes->strs,sizeof(pes->strs));
-    for(i=0,psource=(pmbbo->zrst); i<15; i++, psource += sizeof(pmbbo->zrst) ) 
+    for(i=0,psource=(pmbbo->zrst); i<pes->no_str; i++, psource += sizeof(pmbbo->zrst) ) 
 	strncpy(pes->strs[i],psource,sizeof(pmbbo->zrst));
     return(0);
 }
diff --git a/src/rec/recPid.c b/src/rec/recPid.c
index dd9951161..f9c0ed0ed 100644
--- a/src/rec/recPid.c
+++ b/src/rec/recPid.c
@@ -356,7 +356,7 @@ struct pidRecord     *ppid;
 	float		ep;	/*previous error	*/
 	float		de;	/*change in error	*/
 	float		dep;	/*prev change in error	*/
-	float		dm;	/*output value		*/
+	float		dm;	/*change in manip variable */
 	float		p;	/*proportional contribution*/
 	float		i;	/*integral contribution*/
 	float		d;	/*derivative contribution*/
@@ -412,8 +412,8 @@ struct pidRecord     *ppid;
 	/* get the rest of values needed */
 	dtp = ppid->dt;
 	kp = ppid->kp;
-	ki = ppid->ki;
-	kd = ppid->kd;
+	ki = ppid->ki/60.0;
+	kd = ppid->kd/60.0;
 	ep = ppid->err;
 	dep = ppid->derr;
 	e = val - cval;
diff --git a/src/rec/recSteppermotor.c b/src/rec/recSteppermotor.c
index a0e6bba2d..0968b82b8 100644
--- a/src/rec/recSteppermotor.c
+++ b/src/rec/recSteppermotor.c
@@ -341,6 +341,7 @@ struct steppermotorRecord	*psm;
 	return;
     }
     psm->pact = TRUE;
+    tsLocalTime(&psm->time);
     if (psm->cmod == VELOCITY){
 	/* check velocity */
 	if (psm->rrbv != psm_data->velocity){