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second part of fix for limits when MRES -ve

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When changing user limits, depend on both DIR and sign of MRES
This commit is contained in:
Peter Denison
2007-02-02 13:55:34 +00:00
parent 30fc158af1
commit 0cbeb1cf74
1 changed files with 33 additions and 7 deletions
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motorApp/MotorSrc/motorRecord.cc
+33 -7
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.34 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2006-12-18 20:13:31 $
Version: $Revision: 1.35 $
Modified By: $Author: peterd $
Last Modified: $Date: 2007-02-02 13:55:34 $
*/
/*
@@ -2352,17 +2352,30 @@ static long special(DBADDR *paddr, int after)
offset = pmr->off;
if (dir_positive)
{
command = SET_HIGH_LIMIT;
tmp_limit = pmr->hlm - offset;
MARK(M_DHLM);
}
else
{
command = SET_LOW_LIMIT;
tmp_limit = -(pmr->hlm) + offset;
MARK(M_DLLM);
}
/* Which controller limit we set depends not only on dir, but
also on the sign of MRES */
/* Direction +ve AND +ve MRES OR
Direction -ve AND -ve MRES */
if (dir_positive ^ (pmr->mres < 0))
{
command = SET_HIGH_LIMIT;
}
else
/* Direction -ve AND +ve MRES OR
Direction +ve AND -ve MRES */
{
command = SET_LOW_LIMIT;
}
tmp_raw = tmp_limit / pmr->mres;
INIT_MSG();
@@ -2393,17 +2406,30 @@ static long special(DBADDR *paddr, int after)
offset = pmr->off;
if (dir_positive)
{
command = SET_LOW_LIMIT;
tmp_limit = pmr->llm - offset;
MARK(M_DLLM);
}
else
{
command = SET_HIGH_LIMIT;
tmp_limit = -(pmr->llm) + offset;
MARK(M_DHLM);
}
/* Which controller limit we set depends not only on dir, but
also on the sign of MRES */
/* Direction +ve AND +ve MRES OR
Direction -ve AND -ve MRES */
if (dir_positive ^ (pmr->mres < 0))
{
command = SET_LOW_LIMIT;
}
else
/* Direction -ve AND +ve MRES OR
Direction +ve AND -ve MRES */
{
command = SET_HIGH_LIMIT;
}
tmp_raw = tmp_limit / pmr->mres;
INIT_MSG();