lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

added max velocity check to jogs

Browse Source
This commit is contained in:
jsullivan-anl
2006-09-22 19:28:11 +00:00
parent b2b60a24c7
commit 3970309c91
1 changed files with 9 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/NewFocusSrc/devPMNC87xx.cc
+9 -6
View File
@@ -164,7 +164,7 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
int axis, card;
int drive, motor;
unsigned int size;
int intval;
int intval, velval;
RTN_STATUS rtnval;
bool sendMsg;
@@ -327,18 +327,21 @@ STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd command, double *parms, struct
sprintf(buff, "HAL A%d", drive); /* Using the smooth stop command */
break;
case JOG:
if (abs(intval) > MAX_VELOCITY)
velval = MAX_VELOCITY;
else
velval = abs(intval);
if (dType == PMD8753)
{
if (intval >= 0)
sprintf(buff, "FOR A%d=%d", drive, intval);
sprintf(buff, "FOR A%d=%d", drive, velval);
else
sprintf(buff, "REV A%d=%d", drive, abs(intval));
sprintf(buff, "REV A%d=%d", drive, velval);
}
else if (dType == PMD8751)
{
if (abs(intval) > 2000)
intval = 2000;
sprintf(buff, "VEL A%d %d=%d", drive, motor, abs(intval));
sprintf(buff, "VEL A%d %d=%d", drive, motor, velval);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);