From 303a9208e368ef07839afff67bac69e429af7332 Mon Sep 17 00:00:00 2001
From: Ron Sluiter <rsluiter@users.noreply.github.com>
Date: Fri, 23 May 2014 15:39:57 +0000
Subject: [PATCH] - Set "stop" field true if driver returns RA_PROBLEM true. -
 Increment version to 6.9

---
 motorApp/MotorSrc/motorRecord.cc | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/motorApp/MotorSrc/motorRecord.cc b/motorApp/MotorSrc/motorRecord.cc
index e48cbfbd..081a8c18 100644
--- a/motorApp/MotorSrc/motorRecord.cc
+++ b/motorApp/MotorSrc/motorRecord.cc
@@ -173,9 +173,12 @@ HeadURL:        $URL$
  *                    No need in process() to test MIP_MOVE type moves for soft-travel limits.
  *                  - Need "preferred_dir" for LVIO test. Moved LVIO test in do_work() to
  *                    after "preferred_dir" is set.
+ * .69 05-19-14 rls - Set "stop" field true if driver returns RA_PROBLEM true. (Motor record
+ *                    stops motion when controller signals error but does not stop motion; e.g.,
+ *                    maximum velocity exceeded.)
  */
 
-#define VERSION 6.8
+#define VERSION 6.9
 
 #include    <stdlib.h>
 #include    <string.h>
@@ -3584,11 +3587,19 @@ static void
     if (ls_active == true || msta.Bits.RA_DONE || msta.Bits.RA_PROBLEM)
     {
         pmr->movn = 0;
-        if (ls_active == true)
+        if (ls_active == true || msta.Bits.RA_PROBLEM)
+        {
             clear_buttons(pmr);
+            if (msta.Bits.RA_PROBLEM)
+            {
+                pmr->stop = 1;
+                MARK(M_STOP);
+            }
+        }
     }
     else
         pmr->movn = 1;
+
     if (pmr->movn != old_movn)
         MARK(M_MOVN);