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Bug fix for record issuing moves when |DIFF| < |RDBD|.

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This commit is contained in:
Ron Sluiter
2006-02-23 13:45:57 +00:00
parent 0a99c318d6
commit 70063c0ab3
1 changed files with 24 additions and 25 deletions
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motorApp/MotorSrc/motorRecord.cc
+24 -25
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.27 $
Version: $Revision: 1.28 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2005-11-28 16:11:10 $
Last Modified: $Date: 2006-02-23 13:45:57 $
*/
/*
@@ -82,10 +82,12 @@ Last Modified: $Date: 2005-11-28 16:11:10 $
* - get_units() returned wrong units for VMAX.
* - get_graphic_double() and get_control_double() returned
* incorrect values for VELO.
* .27 02-14-06 rls - Bug fix for record issuing moves when |DIFF| < |RDBD|.
* - removed "slop" from do_work.
*
*/
#define VERSION 5.8
#define VERSION 5.9
#include <stdlib.h>
#include <string.h>
@@ -1474,11 +1476,11 @@ LOGIC:
ENDIF
IF the dial DIFF is within the retry deadband.
IF the move is in the "preferred direction".
IF MIP state is DONE.
Update last target positions.
Terminate move. Set DMOV TRUE.
NORMAL RETURN.
ENDIF
NORMAL RETURN.
ENDIF
....
....
@@ -1975,7 +1977,6 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
double bpos = (pmr->dval - pmr->bdst) / pmr->mres;
double bvel = pmr->bvel / fabs(pmr->mres); /* backlash speed */
double bacc = (bvel - vbase) / pmr->bacc; /* backlash accel. */
double slop = 0.95 * pmr->rdbd;
bool use_rel, preferred_dir;
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -2038,24 +2039,21 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
preferred_dir = false;
/*
* If we're within retry deadband, move only in preferred dir.
* Don't move if we're within retry deadband.
*/
if (fabs(pmr->diff) < slop)
{
if (preferred_dir == false)
{
if (pmr->mip == MIP_DONE)
{
pmr->ldvl = pmr->dval;
pmr->lval = pmr->val;
pmr->lrvl = pmr->rval;
pmr->dmov = TRUE;
MARK(M_DMOV);
}
return(OK);
}
}
if (fabs(pmr->diff) <= pmr->rdbd)
{
if (pmr->mip == MIP_DONE)
{
pmr->ldvl = pmr->dval;
pmr->lval = pmr->val;
pmr->lrvl = pmr->rval;
pmr->dmov = TRUE;
MARK(M_DMOV);
}
return(OK);
}
if (pmr->mip == MIP_DONE || pmr->mip == MIP_RETRY)
{
@@ -2091,9 +2089,10 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
position = currpos + pmr->frac * (newpos - currpos);
}
/* Is current position within backlash or retry range? */
else if ((fabs(pmr->diff) < slop) ||
else if ((fabs(pmr->diff) < pmr->rdbd) ||
(use_rel == true && ((relbpos < 0) == (relpos > 0))) ||
(use_rel == false && (((currpos + slop) > bpos) == (newpos > currpos))))
(use_rel == false && (((currpos + pmr->rdbd) > bpos) ==
(newpos > currpos))))
{
/******************************************************************************
* Backlash correction imposes a much larger penalty on overshoot than on