lin-epics-modules/motorBase
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Set VBAS before jogging.

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This commit is contained in:
Ron Sluiter
2007-11-27 17:53:42 +00:00
parent 387057ca3d
commit d86b76b6bf
1 changed files with 6 additions and 3 deletions
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motorApp/MotorSrc/motorRecord.cc
+6 -3
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.42 $
Modified By: $Author: peterd $
Last Modified: $Date: 2007-11-23 13:43:19 $
Version: $Revision: 1.43 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-11-27 17:53:42 $
*/
/*
@@ -101,6 +101,7 @@ Last Modified: $Date: 2007-11-23 13:43:19 $
* 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
* .43 11-27-07 rls - Set VBAS before jogging.
*/
#define VERSION 6.3
@@ -1829,6 +1830,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
{
double jogv = (pmr->jvel * dir) / pmr->mres;
double jacc = pmr->jar / fabs(pmr->mres);
double vbase = pmr->vbas / fabs(pmr->mres);
pmr->dmov = FALSE;
MARK(M_DMOV);
@@ -1847,6 +1849,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
pmr->cdir = !pmr->cdir;
INIT_MSG();
WRITE_MSG(SET_VEL_BASE, &vbase);
WRITE_MSG(SET_ACCEL, &jacc);
WRITE_MSG(JOG, &jogv);
SEND_MSG();