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Use absolute value of MRES in NTM stop calculation

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Peter Denison
2007-11-23 13:43:19 +00:00
parent 16af12215d
commit aea806e9d9
1 changed files with 5 additions and 4 deletions
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motorApp/MotorSrc/motorRecord.cc
+5 -4
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.41 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-11-07 18:54:13 $
Version: $Revision: 1.42 $
Modified By: $Author: peterd $
Last Modified: $Date: 2007-11-23 13:43:19 $
*/
/*
@@ -100,6 +100,7 @@ Last Modified: $Date: 2007-11-07 18:54:13 $
* - Do not post process previous move on "tdir" detection.
* Clear post process indicator (pp). This fixes long moves
* at backlash velocity after a new target position.
* .42 11-23-07 pnd - Correct use of MRES in NTM logic to use absolute value
*/
#define VERSION 6.3
@@ -1120,7 +1121,7 @@ static long process(dbCommon *arg)
if (pmr->movn)
{
double cdiff = (pmr->rval - pmr->rmp) * pmr->mres; /* Commanded difference. */
double cdiff = (pmr->rval - pmr->rmp) * fabs(pmr->mres); /* Commanded difference. */
int sign_cdiff = (cdiff < 0.0) ? 0 : 1;
/* Test for new target position in opposite direction of current