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allow recalc of velo and accel each rec process

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This commit is contained in:
Jim Kowalkowski
1993-01-29 15:24:31 +00:00
parent 620462d967
commit 2bde41a494
1 changed files with 4 additions and 2 deletions
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6
src/rec/recSteppermotor.c
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@@ -88,6 +88,7 @@
* .30 07-16-92 jba added invalid alarm fwd link test and chngd fwd lnk to macro
* .31 07-21-92 jba changed alarm limits for non val related fields
* .32 10-10-92 jba replaced code for get of VAL from DOL with recGblGetLinkValue
* .33 01-05-93 jbk force recalc of velo and accel each time rec processed
*/
#include <vxWorks.h>
@@ -723,13 +724,14 @@ struct steppermotorRecord *psm;
return;
/* set the velocity and acceleration */
if ((psm->velo != psm->lvel) || (psm->lacc != psm->accl)){
/* jbk change for allowing mres to change */
/* if ((psm->velo != psm->lvel) || (psm->lacc != psm->accl)){ */
acceleration = (1/psm->accl) * psm->velo * psm->mres;
velocity = psm->velo * psm->mres;
(*pdset->sm_command)(psm,SM_VELOCITY,velocity,acceleration);
psm->lvel = psm->velo;
psm->lacc = psm->accl;
}
/* } */
/* set home when requested */
if (psm->sthm != 0){