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Fix velocityMove

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MarkRivers
2006-05-07 14:36:15 +00:00
parent 443888e96c
commit 353065ccc0
1 changed files with 4 additions and 4 deletions
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motorApp/NewportSrc/drvMM4000Asyn.c
+4 -4
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@@ -378,7 +378,6 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double velocity, double acceleration)
{
int status;
double position;
if (pAxis == NULL) return(MOTOR_AXIS_ERROR);
@@ -387,9 +386,10 @@ static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double vel
* If the record soft limits are set tighter than the MM4000 limits
* the record will prevent JOG motion beyond its soft limits
*/
if (velocity >= 0) position = pAxis->highLimit/pAxis->stepSize;
else position = pAxis->lowLimit/pAxis->stepSize;
status = motorAxisMove(pAxis, position, 0, min_velocity, velocity, acceleration);
if (velocity > 0.)
status = motorAxisMove(pAxis, pAxis->highLimit/pAxis->stepSize, 0, min_velocity, velocity, acceleration);
else
status = motorAxisMove(pAxis, pAxis->lowLimit/pAxis->stepSize, 0, min_velocity, -velocity, acceleration);
return status;
}