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- Update lval in load_pos() if FOFF is set to FROZEN; see README #7.

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- Allow sign(MRES) != sign(ERES); see README #9
This commit is contained in:
Ron Sluiter
2004-02-12 19:39:29 +00:00
parent a6ebded033
commit 80901f0181
1 changed files with 5 additions and 12 deletions
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motorApp/MotorSrc/motorRecord.cc
+5 -12
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.15 $
Version: $Revision: 1.16 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-01-22 21:57:51 $
Last Modified: $Date: 2004-02-12 19:39:29 $
*/
/*
@@ -61,6 +61,8 @@ Last Modified: $Date: 2004-01-22 21:57:51 $
* .11 12-12-03 rls - Changed MSTA access to bit field.
* .12 12-12-03 rls - Added status update field (STUP).
* .13 12-23-03 rls - Prevent STUP from activating DLY or setting DMOV true.
* .14 02-10-03 rls - Update lval in load_pos() if FOFF is set to FROZEN.
* .15 02-12-03 rls - Allow sign(MRES) != sign(ERES).
*
*/
@@ -1605,16 +1607,6 @@ static RTN_STATUS do_work(motorRecord * pmr)
pmr->eres = pmr->mres;
MARK(M_ERES);
}
/*
* OMS hardware can't handle negative motor or encoder resolution
* in the SET_ENCODER_RATIO command. For now, we simply don't allow
* motor and encoder resolutions to differ in sign.
*/
if ((pmr->mres < 0.) != (pmr->eres < 0.))
{
pmr->eres *= -1.;
MARK(M_ERES);
}
/* Calculate encoder ratio. */
for (m = 10000000; (m > 1) &&
(fabs(m / pmr->eres) > 1.e6 || fabs(m / pmr->mres) > 1.e6); m /= 10);
@@ -3233,6 +3225,7 @@ static void load_pos(motorRecord * pmr)
else
pmr->val = pmr->off - pmr->dval;
MARK(M_VAL);
pmr->lval = pmr->val;
}
else
{