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Fixes STOP problem; i.e., backlash accel. rate applied during STOP.

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Ron Sluiter
2000-04-19 15:29:43 +00:00
parent 356710f628
commit e288ad273b
1 changed files with 11 additions and 2 deletions
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motorApp/OmsSrc/devOmsCom.c
+11 -2
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@@ -2,9 +2,9 @@
FILENAME... devOmsCom.c
USAGE... Data and functions common to all OMS device level support.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2000-02-08 22:19:01 $
Last Modified: $Date: 2000-04-19 15:29:43 $
*/
/*
@@ -167,6 +167,15 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
mr->pcof = 0.00005;
rtnind = ERROR;
}
else if (command == STOP_AXIS)
{
double acc = (mr->velo / fabs(mr->res)) / mr->accl;
/* Put in acceleration. */
strcat(motor_call->message, oms_table[SET_ACCEL].command);
sprintf(buffer, "%ld", NINT(acc));
strcat(motor_call->message, buffer);
}
if (cmnd_type == MOTION || cmnd_type == VELOCITY)
{