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- Set "stop" field true if driver returns RA_PROBLEM true.

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- Increment version to 6.9
This commit is contained in:
Ron Sluiter
2014-05-23 15:39:57 +00:00
parent 5b21badfad
commit 303a9208e3
1 changed files with 13 additions and 2 deletions
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motorApp/MotorSrc/motorRecord.cc
+13 -2
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@@ -173,9 +173,12 @@ HeadURL: $URL$
* No need in process() to test MIP_MOVE type moves for soft-travel limits. * 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 * - Need "preferred_dir" for LVIO test. Moved LVIO test in do_work() to
* after "preferred_dir" is set. * 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 <stdlib.h>
#include <string.h> #include <string.h>
@@ -3584,11 +3587,19 @@ static void
if (ls_active == true || msta.Bits.RA_DONE || msta.Bits.RA_PROBLEM) if (ls_active == true || msta.Bits.RA_DONE || msta.Bits.RA_PROBLEM)
{ {
pmr->movn = 0; pmr->movn = 0;
if (ls_active == true) if (ls_active == true || msta.Bits.RA_PROBLEM)
{
clear_buttons(pmr); clear_buttons(pmr);
if (msta.Bits.RA_PROBLEM)
{
pmr->stop = 1;
MARK(M_STOP);
}
}
} }
else else
pmr->movn = 1; pmr->movn = 1;
if (pmr->movn != old_movn) if (pmr->movn != old_movn)
MARK(M_MOVN); MARK(M_MOVN);