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zero acceleration fix

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This commit is contained in:
Jim Kowalkowski
1993-08-05 15:37:04 +00:00
parent 2cfcd4a28f
commit 30d2d033b5
1 changed files with 14 additions and 3 deletions
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17
src/rec/recSteppermotor.c
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@@ -89,6 +89,7 @@
* .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
* .34 07-20-93 jbk fixed accel of zero causing divide by zero
*/
#include <vxWorks.h>
@@ -631,7 +632,10 @@ struct steppermotorRecord *psm;
short status=0;
/* acceleration is in terms of seconds to reach velocity */
acceleration = (1/psm->accl) * psm->velo * psm->mres;
if(psm->accl!=0)
acceleration = (1/psm->accl) * psm->velo * psm->mres;
else
acceleration = 0;
/* velocity is in terms of revolutions per second */
velocity = psm->velo * psm->mres;
@@ -713,7 +717,11 @@ struct steppermotorRecord *psm;
/* set the velocity and acceleration */
/* jbk change for allowing mres to change */
/* if ((psm->velo != psm->lvel) || (psm->lacc != psm->accl)){ */
acceleration = (1/psm->accl) * psm->velo * psm->mres;
if(psm->accl!=0)
acceleration = (1/psm->accl) * psm->velo * psm->mres;
else
acceleration = 0;
velocity = psm->velo * psm->mres;
(*pdset->sm_command)(psm,SM_VELOCITY,velocity,acceleration);
psm->lvel = psm->velo;
@@ -820,7 +828,10 @@ struct steppermotorRecord *psm;
/* acceleration */
chng_vel = psm->velo - psm->val;
if (chng_vel < 0) chng_vel = -chng_vel;
acceleration = (1/psm->accl) * chng_vel * psm->mres;
if(psm->accl!=0)
acceleration = (1/psm->accl) * chng_vel * psm->mres;
else
acceleration = 0;
/* velocity */
psm->velo = psm->val;