lin-epics-modules/motorBase
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Fixed stop acceleration calculation; VBAS adjusted.

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Ron Sluiter
2008-05-14 16:37:41 +00:00
parent 8a3d37b3fd
commit 54a8fb95f8
1 changed files with 6 additions and 4 deletions
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motorApp/OmsSrc/devOmsCom.cc
+6 -4
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@@ -2,9 +2,9 @@
FILENAME... devOmsCom.cc
USAGE... Data and functions common to all OMS device level support.
Version: $Revision: 1.12 $
Modified By: $Author: rivers $
Last Modified: $Date: 2008-01-11 21:53:05 $
Version: $Revision: 1.13 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-05-14 16:37:41 $
*/
/*
@@ -59,6 +59,8 @@ Last Modified: $Date: 2008-01-11 21:53:05 $
* .15 08-18-06 rls Output "slew <= base" error message only one time.
* .16 02-16-07 rls Bug fix for overwriting PID parameter fields during
* normalization calculation.
* .17 05-14-08 rls Fixed stop acceleration calculation.
*
*/
#include <string.h>
@@ -265,7 +267,7 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
}
else if (command == STOP_AXIS)
{
double acc = (mr->velo / fabs(mr->mres)) / mr->accl;
double acc = ((mr->velo - mr->vbas) / fabs(mr->mres)) / mr->accl;
/* Put in acceleration. */
strcat(motor_call->message, oms_table[SET_ACCEL].command);