lin-epics-modules/motorBase
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- Disable soft travel limit error check during home search.

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- Use home velocity (HVEL), base velocity (BVEL) and accel. time (ACCL) fields to calculate home acceleration rate.
This commit is contained in:
Ron Sluiter
2011-10-20 21:02:14 +00:00
parent 2b058851b1
commit dbcf4bc2a9
1 changed files with 13 additions and 4 deletions
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motorApp/MotorSrc/motorRecord.cc
+13 -4
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@@ -148,6 +148,9 @@ HeadURL: $URL$
* .61 06-24-11 rls - No retries after backlash or jogging. Move setting
* MIP <- DONE and reactivating Jog request from
* postProcess() to maybeRetry().
* .62 10-20-11 rls - Disable soft travel limit error check during home search.
* - Use home velocity (HVEL), base velocity (BVEL) and accel.
* time (ACCL) fields to calculate home acceleration rate.
*
*/
@@ -749,6 +752,8 @@ static long postProcess(motorRecord * pmr)
double vbase = pmr->vbas / fabs(pmr->mres);
double hpos = 0;
double hvel = pmr->hvel / fabs(pmr->mres);
double acc = (hvel - vbase) / pmr->accl;
motor_cmnd command;
pmr->mip &= ~MIP_STOP;
@@ -759,6 +764,8 @@ static long postProcess(motorRecord * pmr)
INIT_MSG();
WRITE_MSG(SET_VEL_BASE, &vbase);
WRITE_MSG(SET_VELOCITY, &hvel);
if (acc > 0.0) /* Don't SET_ACCEL to zero. */
WRITE_MSG(SET_ACCEL, &acc);
if (((pmr->mip & MIP_HOMF) && (pmr->mres > 0.0)) ||
((pmr->mip & MIP_HOMR) && (pmr->mres < 0.0)))
@@ -1314,9 +1321,8 @@ enter_do_work:
if (pmr->mip & MIP_JOG)
pmr->lvio = (pmr->jogf && (pmr->drbv > pmr->dhlm - pmr->velo)) ||
(pmr->jogr && (pmr->drbv < pmr->dllm + pmr->velo));
else if(pmr->mip & MIP_HOME)
pmr->lvio = (pmr->homf && (pmr->drbv > pmr->dhlm - pmr->velo)) ||
(pmr->homr && (pmr->drbv < pmr->dllm + pmr->velo));
else if (pmr->mip & MIP_HOME)
pmr->lvio = false; /* Disable soft-limit error check during home search. */
else
pmr->lvio = (pmr->drbv > pmr->dhlm + fabs(pmr->mres)) ||
(pmr->drbv < pmr->dllm - fabs(pmr->mres));
@@ -1880,7 +1886,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
}
else
{
double vbase, hvel, hpos;
double vbase, hvel, hpos, acc;
motor_cmnd command;
/* defend against divide by zero */
@@ -1892,11 +1898,14 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
vbase = pmr->vbas / fabs(pmr->mres);
hvel = pmr->hvel / fabs(pmr->mres);
acc = (hvel - vbase) / pmr->accl;
hpos = 0;
INIT_MSG();
WRITE_MSG(SET_VEL_BASE, &vbase);
WRITE_MSG(SET_VELOCITY, &hvel);
if (acc > 0.0) /* Don't SET_ACCEL to zero. */
WRITE_MSG(SET_ACCEL, &acc);
if (((pmr->mip & MIP_HOMF) && (pmr->mres > 0.0)) ||
((pmr->mip & MIP_HOMR) && (pmr->mres < 0.0)))