lin-epics-modules/motorBase
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- R5-6

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- position round-up in do_work() removed.
This commit is contained in:
Ron Sluiter
2005-03-18 22:36:36 +00:00
parent 0b14aeeeae
commit c759cd2ef0
1 changed files with 7 additions and 14 deletions
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motorApp/MotorSrc/motorRecord.cc
+7 -14
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.21 $
Version: $Revision: 1.22 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-12-21 17:37:07 $
Last Modified: $Date: 2005-03-18 22:36:36 $
*/
/*
@@ -69,9 +69,10 @@ Last Modified: $Date: 2004-12-21 17:37:07 $
* .19 12-01-04 rls - make epicsExportAddress extern "C" linkage for Windows
* compatibility.
* .20 12-02-04 rls - fixed incorrect slew acceleration calculation.
* .21 03-13-05 rls - Removed record level round-up position code in do_work().
*/
#define VERSION 5.5
#define VERSION 5.6
#include <stdlib.h>
#include <string.h>
@@ -1945,14 +1946,6 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
long rpos, npos;
/*
* Relative-move target positions with motor-resolution
* granularity. The hardware is going to convert encoder steps to
* motor steps by truncating any fractional part, instead of
* converting to nearest integer, so we prepare for that.
*/
double mRelPos = NINT(relpos) + ((relpos > 0) ? .5 : -.5);
double mRelBPos = NINT(relbpos) + ((relbpos > 0) ? .5 : -.5);
msta_field msta;
msta.All = pmr->msta;
@@ -2059,7 +2052,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
velocity = vel;
accel = acc;
if (use_rel == true)
position = mRelPos * pmr->frac;
position = relpos * pmr->frac;
else
position = currpos + pmr->frac * (newpos - currpos);
}
@@ -2082,7 +2075,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
velocity = bvel;
accel = bacc;
if (use_rel == true)
position = mRelPos * pmr->frac;
position = relpos * pmr->frac;
else
position = currpos + pmr->frac * (newpos - currpos);
}
@@ -2091,7 +2084,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
velocity = vel;
accel = acc;
if (use_rel == true)
position = mRelBPos;
position = relbpos;
else
position = bpos;
pmr->pp = TRUE; /* Do backlash from posprocess(). */