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Bug fix for negative controller positions not handled correctly.

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This commit is contained in:
Ron Sluiter
2007-02-27 17:22:49 +00:00
parent c63f418172
commit 56680be0dd
1 changed files with 11 additions and 7 deletions
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motorApp/MotorSrc/motordevCom.cc
+11 -7
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@@ -3,9 +3,9 @@ FILENAME: motordevCom.cc
USAGE... This file contains device functions that are common to all motor
record device support modules.
Version: $Revision: 1.9 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-12-08 00:12:54 $
Version: $Revision: 1.10 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-02-27 17:22:49 $
*/
/*
@@ -46,6 +46,10 @@ Last Modified: $Date: 2005-12-08 00:12:54 $
* .07 06/07/05 rls Use RDBD as threshold for controller's position takes
* precedence over the save/restore value at initialization.
* .08 10/18/05 rls Use MAX_TIMEOUT.
* .09 02/27/07 rls Bug fix in motor_init_record_com() for logic that
* determines precedence between controller or save/restore
* motor position at boot-up; negative controller positions
* were not handled correctly.
*/
@@ -146,8 +150,8 @@ LOGIC...
Set local encoder ratio to unity.
ENDIF
Set Initialize position indicator based on (|DVEL| > RDBD, AND, MRES != 0,
AND, the above "get_axis_info()" position < RDBD) [NOTE: |controller
Set Initialize position indicator based on (|DVAL| > RDBD, AND, MRES != 0,
AND, the above |"get_axis_info()" position| < RDBD) [NOTE: |controller
position| >= RDBD takes precedence over save/restore position].
Set Command Primitive Initialization string indicator based on (non-NULL "init"
pointer, AND, non-zero string length.
@@ -286,8 +290,8 @@ epicsShareFunc long motor_init_record_com(struct motorRecord *mr, int brdcnt, st
}
initPos = (fabs(mr->dval) > mr->rdbd && mr->mres != 0 &&
(float) (axis_query.position * mr->mres) < mr->rdbd)
? true : false;
fabs(axis_query.position * mr->mres) < mr->rdbd)
? true : false;
/* Test for command primitive initialization string. */
initString = (mr->init != NULL && strlen(mr->init)) ? true : false;
/* Test for PID support. */