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motorRecord.cc: Correct usage of accEGUfromVelo()

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The function accEGUfromVelo() returns acceleration in EGU,
but we need it expressed in steps.
Thanks to Kevin Peterson for noticing.
Correct this and divide by fabs(pmr->mres).
And while there, correct a typo in a comment
This commit is contained in:
Torsten Bögershausen
2023-05-15 22:53:25 +02:00
parent 1c500830fd
commit ddf1095b5f
1 changed files with 3 additions and 3 deletions
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motorApp/MotorSrc/motorRecord.cc
+3 -3
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@@ -941,7 +941,7 @@ static long postProcess(motorRecord * pmr)
if (pmr->mip & MIP_JOG_STOP)
{
double acc = accEGUfromVelo(pmr, pmr->velo);
double acc = accEGUfromVelo(pmr, pmr->velo) / fabs(pmr->mres);
if (vel <= vbase)
vel = vbase + 1;
@@ -2272,7 +2272,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
double newpos = pmr->dval / pmr->mres; /* where to go */
double vbase = pmr->vbas / fabs(pmr->mres); /* base speed */
double vel = pmr->velo / fabs(pmr->mres); /* normal speed */
double acc = accEGUfromVelo(pmr, pmr->velo);
double acc = accEGUfromVelo(pmr, pmr->velo) / fabs(pmr->mres);
/*
* 'bpos' is one backlash distance away from 'newpos'.
*/
@@ -3989,7 +3989,7 @@ static void check_speed_and_resolution(motorRecord * pmr)
/* ACCL == 0.0, ACCS is != 0.0 -> Use ACCS
This is a (possible) new way to configure a database.
Existing Db files will have ACCS == 0.0 and this
is backwards compatibleamd behaves as before */
is backwards compatible and behaves as before */
updateACCLfromACCS(pmr);
}
/* Sanity check on acceleration time. */