From b5d1f24973253cda3a789c6261e259b23accdc67 Mon Sep 17 00:00:00 2001
From: Ron Sluiter <rsluiter@users.noreply.github.com>
Date: Fri, 16 Jul 2004 19:27:08 +0000
Subject: [PATCH] R5-4

---
 motorApp/MotorSrc/motorRecord.cc | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/motorApp/MotorSrc/motorRecord.cc b/motorApp/MotorSrc/motorRecord.cc
index ba373b4e..5e6364fc 100644
--- a/motorApp/MotorSrc/motorRecord.cc
+++ b/motorApp/MotorSrc/motorRecord.cc
@@ -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;