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R5-4

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Ron Sluiter
2004-07-16 19:27:08 +00:00
parent 3640e4f7a8
commit b5d1f24973
1 changed files with 10 additions and 3 deletions
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motorApp/MotorSrc/motorRecord.cc
+10 -3
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.16 $
Version: $Revision: 1.17 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-02-12 19:39:29 $
Last Modified: $Date: 2004-07-16 19:27:08 $
*/
/*
@@ -63,10 +63,11 @@ Last Modified: $Date: 2004-02-12 19:39:29 $
* .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).
* .16 06-16-04 rls - JAR validity check.
*
*/
#define VERSION 5.3
#define VERSION 5.4
#include <stdlib.h>
#include <string.h>
@@ -2616,6 +2617,12 @@ pidcof:
}
break;
case motorRecordJAR:
// Valid JAR; 0 < JAR < JVEL [egu / sec] / 0.1 [sec]
if (pmr->jar <= 0.0)
pmr->jar = pmr->jvel / 0.1;
break;
case motorRecordHVEL:
range_check(pmr, &pmr->hvel, pmr->vbas, pmr->vmax);
break;