lin-epics-modules/motorBase
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Restore MAXv slew acceleration after STOP command.

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This commit is contained in:
Ron Sluiter
2008-05-14 21:51:56 +00:00
parent 1ca26364b8
commit dce970eb15
1 changed files with 13 additions and 2 deletions
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motorApp/OmsSrc/devOmsCom.cc
+13 -2
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@@ -2,9 +2,9 @@
FILENAME... devOmsCom.cc
USAGE... Data and functions common to all OMS device level support.
Version: $Revision: 1.13 $
Version: $Revision: 1.14 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-05-14 16:37:41 $
Last Modified: $Date: 2008-05-14 21:51:56 $
*/
/*
@@ -60,6 +60,7 @@ Last Modified: $Date: 2008-05-14 16:37:41 $
* .16 02-16-07 rls Bug fix for overwriting PID parameter fields during
* normalization calculation.
* .17 05-14-08 rls Fixed stop acceleration calculation.
* .18 05-14-08 rls For MAXv, restore slew acceleration after STOP command.
*
*/
@@ -188,6 +189,7 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
struct controller *brdptr;
char buffer[40];
msg_types cmnd_type;
RTN_STATUS rtnind;
@@ -267,12 +269,21 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
}
else if (command == STOP_AXIS)
{
bool MAXv = false;
double acc = ((mr->velo - mr->vbas) / fabs(mr->mres)) / mr->accl;
brdptr = (*trans->tabptr->card_array)[motor_call->card];
if (strncmp(brdptr->ident, "MAXv", 4) == 0)
MAXv = true;
/* Put in acceleration. */
if (MAXv == true)
strcat(motor_call->message, "FL");
strcat(motor_call->message, oms_table[SET_ACCEL].command);
sprintf(buffer, "%ld", NINT(acc));
strcat(motor_call->message, buffer);
if (MAXv == true)
strcat(motor_call->message, "; WQ");
}
if (cmnd_type == MOTION || cmnd_type == VELOCITY)