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- Protect against divide-by-zero with ERES.

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- backlash correction after Jog fix; README item #17.
- Activate DMOV when loading a position; Bug fix for V4.0 changes that left MIP nonzero after load position operation; README item #14.
This commit is contained in:
Ron Sluiter
2000-07-17 18:56:06 +00:00
parent c4b623ab15
commit daf1cbfa8b
1 changed files with 28 additions and 16 deletions
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motorApp/MotorSrc/motorRecord.c
+28 -16
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.c
USAGE... Record Support Routines for the Motor record.
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2000-06-14 15:07:47 $
Last Modified: $Date: 2000-07-17 18:56:06 $
*/
/*
@@ -556,6 +556,12 @@ STATIC long init_record(motorRecord * pmr, int pass)
*/
(*pdset->update_values) (pmr);
if (pmr->eres == 0.0)
{
pmr->eres = pmr->mres;
MARK(M_ERES);
}
/* v3.2 Set .res according to whether an encoder is in use. */
pmr->res = ((pmr->msta & EA_PRESENT) && pmr->ueip) ? pmr->eres : pmr->mres;
@@ -604,11 +610,6 @@ STATIC long init_record(motorRecord * pmr, int pass)
pmr->lvio = 1;
MARK(M_LVIO);
}
if (fabs(pmr->eres) < 1.e-9)
{
pmr->eres = pmr->mres;
MARK(M_ERES);
}
/* Make sure readback-delay field accurately conveys the time delay we */
/* can actually implement (nearest number of ticks of watchdog timer.) */
@@ -739,7 +740,7 @@ STATIC long postProcess(motorRecord * pmr)
else if (pmr->mip & MIP_JOG_STOP)
{
pmr->mip &= ~MIP_JOG_STOP;
if (fabs(pmr->bdst) < fabs(pmr->res))
if (fabs(pmr->bdst) > fabs(pmr->res))
{
/* First part of jog done. Do backlash correction. */
double bvel = pmr->bvel / fabs(pmr->res);
@@ -1474,7 +1475,7 @@ stop_all: /* Cancel any operations. */
pmr->mres = 1.;
MARK(M_MRES);
}
if (fabs(pmr->eres) < 1.e-9)
if (pmr->eres == 0.0)
{
pmr->eres = pmr->mres;
MARK(M_ERES);
@@ -1576,9 +1577,18 @@ stop_all: /* Cancel any operations. */
}
else
{
double vbase = pmr->vbas / fabs(pmr->res);
double hvel = 1000 * fabs(pmr->mres / pmr->eres);
double hpos = 0;
double vbase, hvel, hpos;
/* defend against divide by zero */
if (pmr->eres == 0.0)
{
pmr->eres = pmr->mres;
MARK(M_ERES);
}
vbase = pmr->vbas / fabs(pmr->res);
hvel = 1000 * fabs(pmr->mres / pmr->eres);
hpos = 0;
INIT_MSG();
WRITE_MSG(SET_VEL_BASE, &vbase);
@@ -2333,14 +2343,14 @@ velcheckB:
/* new eres (encoder resolution) */
case motorRecordERES:
MARK(M_ERES); /* MARK it so we'll remember to tell device
* support */
if (pmr->eres == 0.0) /* Don't allow ERES = 0. */
pmr->eres = pmr->mres;
MARK(M_ERES);
break;
/* new ueip flag */
case motorRecordUEIP:
MARK(M_UEIP); /* MARK it so we'll remember to tell device
* support */
MARK(M_UEIP);
/* Ideally, we should be recalculating speeds, but at the moment */
/* we don't know whether hardware even has an encoder. */
break;
@@ -3044,6 +3054,8 @@ STATIC void load_pos(motorRecord * pmr)
pmr->mip = MIP_LOAD_P;
MARK(M_MIP);
pmr->pp = TRUE;
pmr->dmov = FALSE;
MARK(M_DMOV);
/* Load pos. into motor controller. Get new readback vals. */
INIT_MSG();