From 690096a7a44d7953febdeec243320df44a77bee9 Mon Sep 17 00:00:00 2001
From: MarkRivers <rivers@cars.uchicago.edu>
Date: Thu, 6 Apr 2006 19:25:33 +0000
Subject: [PATCH] Fix from Peter for home command

---
 motorApp/MotorSrc/devMotorAsyn.c |  4 ++--
 motorApp/MotorSrc/drvMotorAsyn.c | 21 ++++++++++++++-------
 2 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/motorApp/MotorSrc/devMotorAsyn.c b/motorApp/MotorSrc/devMotorAsyn.c
index f573adf7..e95ddfb3 100644
--- a/motorApp/MotorSrc/devMotorAsyn.c
+++ b/motorApp/MotorSrc/devMotorAsyn.c
@@ -239,11 +239,11 @@ static RTN_STATUS build_trans( motor_cmnd command,
 	break;
     case HOME_FOR:
 	pPvt->move_cmd = motorHome;
-	pPvt->param = *param;
+	pPvt->param = 1;
 	break;
     case HOME_REV:
 	pPvt->move_cmd = motorHome;
-	pPvt->param = -(*param);
+	pPvt->param = 0;
 	break;
     default:
 	need_call = 1;
diff --git a/motorApp/MotorSrc/drvMotorAsyn.c b/motorApp/MotorSrc/drvMotorAsyn.c
index 86e200d0..edd03879 100644
--- a/motorApp/MotorSrc/drvMotorAsyn.c
+++ b/motorApp/MotorSrc/drvMotorAsyn.c
@@ -299,7 +299,7 @@ static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
         return(asynError);
     }
     asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
-              "drvMotorAsyn::readInt32, value=%d", *value);
+              "drvMotorAsyn::readInt32, value=%d\n", *value);
     return(asynSuccess);
 }
 
@@ -337,7 +337,7 @@ static asynStatus readFloat64(void *drvPvt, asynUser *pasynUser,
         return(asynError);
     }
     asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
-              "drvMotorAsyn::readFloat64, value=%f", *value);
+              "drvMotorAsyn::readFloat64, value=%f\n", *value);
     return(status);
 }
 
@@ -367,6 +367,11 @@ static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
     case motorStop:
 	status = (*pPvt->drvset->stop)(pAxis->axis, pAxis->accel);
 	break;
+    case motorHome:
+	status = (*pPvt->drvset->home)(pAxis->axis, pAxis->min_velocity,
+				       pAxis->max_velocity, pAxis->accel,
+				       (value == 0) ? 0 : 1);
+	break;
     case motorSetClosedLoop:
 	status = (*pPvt->drvset->setInteger)(pAxis->axis, motorAxisClosedLoop,
 					     value);
@@ -379,7 +384,7 @@ static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
 	break;
     }
     asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
-	      "drvMotorAsyn::writeInt32, value=%d", value);
+	      "drvMotorAsyn::writeInt32, value=%d\n", value);
     return(status);
 }
 
@@ -410,11 +415,12 @@ static asynStatus writeFloat64(void *drvPvt, asynUser *pasynUser,
 	break;
     case motorMoveVel:
 	status = (*pPvt->drvset->velocityMove)(pAxis->axis, pAxis->min_velocity,
-				       abs(value), (value < 0) ? 0 : 1);
+				       value, pAxis->accel);
 	break;
     case motorHome:
-	status = (*pPvt->drvset->home)(pAxis->axis, pAxis->min_velocity, abs(value), pAxis->accel,
-			       (value < 0) ? 0 : 1);
+	status = (*pPvt->drvset->home)(pAxis->axis, pAxis->min_velocity,
+				       pAxis->max_velocity, pAxis->accel,
+				       (value == 0) ? 0 : 1);
 	break;
     case motorVelocity:
 	pAxis->max_velocity = value;
@@ -441,7 +447,8 @@ static asynStatus writeFloat64(void *drvPvt, asynUser *pasynUser,
         return(asynError);
     }
     asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
-              "drvMotorAsyn::writeFloat64, reason=%s, value=%f", motorCommands[command].commandString, value);
+              "drvMotorAsyn::writeFloat64, reason=%d, value=%f\n",
+	      command, value);
     return(status);
 }