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Merge pull request #18 from rsluiter/JogLimit

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Jog limit
This commit is contained in:
rsluiter
2016-02-23 11:19:34 -06:00
parent bd21bbdb29 ef6876c4e1
commit 4efe15e76c
2 changed files with 9 additions and 10 deletions
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documentation/motorRecord.html
+3 -4
View File
@@ -301,8 +301,7 @@ below.
<td>R</td>
<td>Raw commanded direction</td>
<td>SHORT</td>
<td><br>
</td>
<td>(1:"Pos", 0:"Neg")<br></td>
</tr>
<tr>
<td><a href="#Servo_fields">CNEN</a></td>
@@ -3124,8 +3123,8 @@ below.
<td>R</td>
<td>Raw commanded direction<br>
</td>
<td>SHORT<br>
</td>
<td>SHORT<br></td>
<td>(1:"Pos", 0:"Neg")<br></td>
</tr>
<tr valign="top">
<td>PP</td>
motorApp/MotorSrc/motorRecord.cc
+6 -6
View File
@@ -180,9 +180,9 @@ USAGE... Motor Record Support.
* - Reversed order of issuing SET_VEL_BASE and SET_VELOCITY commands. Fixes MAXv
* command errors.
* .71 02-25-15 rls - Fix for excessive motor record forward link processing.
*
* .72 03-13-15 rls - Changed RDBL to set RRBV rather than DRBV.
*
* .73 02-15-16 rls - JOGF/R soft limit error check was using the wrong coordinate sytem limits.
* Changed error checks from dial to user limits.
*/
#define VERSION 6.10
@@ -1366,8 +1366,8 @@ enter_do_work:
else
{
if (pmr->mip & MIP_JOG)
pmr->lvio = (pmr->jogf && (pmr->drbv > pmr->dhlm - pmr->jvel)) ||
(pmr->jogr && (pmr->drbv < pmr->dllm + pmr->jvel));
pmr->lvio = (pmr->jogf && (pmr->rbv > pmr->hlm - pmr->jvel)) ||
(pmr->jogr && (pmr->rbv < pmr->llm + pmr->jvel));
else if (pmr->mip & MIP_HOME)
pmr->lvio = false; /* Disable soft-limit error check during home search. */
}
@@ -1972,8 +1972,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
/* check for limit violation */
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == 0.0))
;
else if ((pmr->jogf && (pmr->dval > pmr->dhlm - pmr->jvel)) ||
(pmr->jogr && (pmr->dval < pmr->dllm + pmr->jvel)))
else if ((pmr->jogf && (pmr->val > pmr->hlm - pmr->jvel)) ||
(pmr->jogr && (pmr->val < pmr->llm + pmr->jvel)))
{
pmr->lvio = 1;
MARK(M_LVIO);