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Bug fix for entering small target positions through RVAL; README item #5.

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Ron Sluiter
2001-05-14 19:52:30 +00:00
parent 5cc529c262
commit 57fc2ac6f3
1 changed files with 35 additions and 17 deletions
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motorApp/MotorSrc/motorRecord.c
+35 -17
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.c
USAGE... Motor Record Support.
Version: $Revision: 1.9 $
Version: $Revision: 1.10 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2001-05-11 21:24:21 $
Last Modified: $Date: 2001-05-14 19:52:30 $
*/
/*
@@ -1281,6 +1281,9 @@ DialLLM = (DIR==+) ? userLLM - OFFset : -userHLM + OFFset
Offset:
OFFset = userVAL - DialVAL * DIR
DEFINITIONS:
preferred direction - the direction in which the motor moves during the
backlash-takeout part of a motor motion.
LOGIC:
Initialize.
@@ -1425,6 +1428,13 @@ LOGIC:
ELSE
Calculate....
IF (UEIP set to YES, AND, MSTA indicates an encoder is present),
OR, ReadbackLink is in use (URIP).
Set "use relative move" indicator (use_rel) to ON.
ELSE
Set "use relative move" indicator (use_rel) to OFF.
ENDIF
IF new raw commanded position = current raw feedback position.
IF not done moving, AND, [either no motion-in-progress, OR,
retry-in-progress].
@@ -1436,6 +1446,15 @@ LOGIC:
ENDIF
....
....
IF the dial DIFF is within the retry deadband.
IF the move is in the "preferred direction".
Update last target positions.
Terminate move. Set DMOV TRUE.
NORMAL RETURN.
ENDIF
ENDIF
....
....
IF motion in progress indicator is OFF.
Set MIP MOVE indicator ON.
.....
@@ -1918,8 +1937,7 @@ stop_all: /* Cancel any operations. */
double bvel = pmr->bvel / fabs(pmr->res); /* backlash speed */
double bacc = bvel / pmr->bacc; /* backlash accel. */
double slop = 0.95 * pmr->rdbd;
/*** Use if encoder or ReadbackLink is in use. ***/
int use_rel = ((pmr->msta & EA_PRESENT) && pmr->ueip) || pmr->urip;
BOOLEAN use_rel;
double dMdR = pmr->mres / pmr->res;
double relpos = pmr->diff / pmr->res;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->res;
@@ -1933,6 +1951,12 @@ stop_all: /* Cancel any operations. */
double mRelPos = (NINT(relpos / dMdR) + ((relpos > 0) ? .5 : -.5)) * dMdR;
double mRelBPos = (NINT(relbpos / dMdR) + ((relbpos > 0) ? .5 : -.5)) * dMdR;
/*** Use if encoder or ReadbackLink is in use. ***/
if (((pmr->msta & EA_PRESENT) && pmr->ueip) || pmr->urip)
use_rel = ON;
else
use_rel = OFF;
rpos = NINT(rbvpos);
npos = NINT(newpos);
if (npos == rpos)
@@ -1971,21 +1995,15 @@ stop_all: /* Cancel any operations. */
/*
* If we're within retry deadband, move only in preferred dir.
*/
if (use_rel)
if (fabs(pmr->diff) < slop)
{
if ((fabs(pmr->diff) < slop) &&
((mRelPos > 0) != (pmr->bdst > 0)))
{
pmr->dmov = TRUE;
MARK(M_DMOV);
return(OK);
}
}
else
{
if ((fabs(pmr->diff) < slop) &&
((newpos > currpos) != (pmr->bdst > 0)))
if (((use_rel == OFF) && ((newpos > currpos) != (pmr->bdst > 0))) ||
((use_rel == ON) && ((mRelPos > 0) != (pmr->bdst > 0))))
{
pmr->ldvl = pmr->dval;
pmr->lval = pmr->val;
pmr->lrvl = pmr->rval;
pmr->dmov = TRUE;
MARK(M_DMOV);
return(OK);