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Changed ACCL calculation when VELO == VBAS.

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Previously ACCL was only calculated as (VELO-VBAS)/TIME.
This could cause problems for drivers setting ACCL=0.
Now if VELO == VBAS, ACCL = VELO/TIME.
This commit is contained in:
Mitch D'Ewart
2015-08-18 14:20:34 -07:00
committed by K Lauer
parent 8966aeabf2
commit b201e40ee3
1 changed files with 7 additions and 7 deletions
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motorApp/MotorSrc/motorRecord.cc
+7 -7
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@@ -786,7 +786,7 @@ static long postProcess(motorRecord * pmr)
double vbase = pmr->vbas / fabs(pmr->mres);
double hpos = 0;
double hvel = pmr->hvel / fabs(pmr->mres);
double acc = (hvel - vbase) / pmr->accl;
double acc = (hvel - vbase) > 0 ? ((hvel - vbase)/ pmr->accl): (hvel / pmr->accl);
motor_cmnd command;
@@ -858,7 +858,7 @@ static long postProcess(motorRecord * pmr)
if (pmr->mip & MIP_JOG_STOP)
{
double acc = (vel - vbase) / pmr->accl;
double acc = (vel - vbase) > 0 ? ((vel - vbase)/ pmr->accl) : (vel / pmr->accl);
if (vel <= vbase)
vel = vbase + 1;
@@ -875,7 +875,7 @@ static long postProcess(motorRecord * pmr)
else
{
double bvel = pmr->bvel / fabs(pmr->mres);
double bacc = (bvel - vbase) / pmr->bacc;
double bacc = (bvel - vbase) > 0 ? ((bvel - vbase)/ pmr->bacc) : (bvel / pmr->bacc);
if (bvel <= vbase)
bvel = vbase + 1;
@@ -911,7 +911,7 @@ static long postProcess(motorRecord * pmr)
/* First part of jog done. Do backlash correction. */
double bvel = pmr->bvel / fabs(pmr->mres);
double vbase = pmr->vbas / fabs(pmr->mres);
double bacc = (bvel - vbase) / pmr->bacc;
double bacc = (bvel - vbase) > 0 ? ((bvel - vbase)/ pmr->bacc) : (bvel / pmr->bacc);
double bpos = (pmr->dval - pmr->bdst) / pmr->mres;
/* Use if encoder or ReadbackLink is in use. */
@@ -1935,7 +1935,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
vbase = pmr->vbas / fabs(pmr->mres);
hvel = pmr->hvel / fabs(pmr->mres);
acc = (hvel - vbase) / pmr->accl;
acc = (hvel - vbase) > 0 ? ((hvel - vbase) / pmr->accl) : (hvel / pmr->accl);
hpos = 0;
INIT_MSG();
@@ -2147,13 +2147,13 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
double newpos = pmr->dval / pmr->mres; /* where to go */
double vbase = pmr->vbas / fabs(pmr->mres); /* base speed */
double vel = pmr->velo / fabs(pmr->mres); /* normal speed */
double acc = (vel - vbase) / pmr->accl; /* normal accel. */
double acc = (vel - vbase) > 0 ? ((vel - vbase) / pmr->accl) : (vel / pmr->accl); /* normal accel. */
/*
* 'bpos' is one backlash distance away from 'newpos'.
*/
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 bacc = (bvel - vbase) > 0 ? ((bvel - vbase) / pmr->bacc) : (bvel / pmr->bacc); /* backlash accel. */
bool use_rel, preferred_dir, too_small;
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;