lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

Restore "Do relative moves only if retries are enabled (RTRY != 0)" logic from version 1.41.

Browse Source
This commit is contained in:
Ron Sluiter
2009-09-01 18:43:17 +00:00
parent 9c71b63f4b
commit e41dffa175
1 changed files with 25 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/MotorSrc/motorRecord.cc
+25 -10
View File
@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.54 $
Modified By: $Author: rivers $
Last Modified: $Date: 2009-09-01 14:04:08 $
Version: $Revision: 1.55 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2009-09-01 18:43:17 $
*/
/*
@@ -643,6 +643,12 @@ LOGIC:
...
ELSE IF done stopping after jog, OR, done with move.
IF |backlash distance| > |motor resolution|.
IF Retry enabled, AND, [(encoder present, AND, use encoder true),
OR, use readback link true]
Set relative positioning indicator true.
ELSE
Set relative positioning indicator false.
ENDIF
Do backlasth correction.
ELSE
Set MIP to DONE.
@@ -652,6 +658,15 @@ LOGIC:
ENDIF
...
...
ELSE IF done with 1st phase take out backlash after jog.
Calculate backlash velocity, base velocity, backlash accel. and backlash position.
IF Retry enabled, AND, [(encoder present, AND, use encoder true),
OR, use readback link true]
Set relative positioning indicator true.
ELSE
Set relative positioning indicator false.
ENDIF
ELSE IF done with jog or move backlash.
Clear MIP.
IF (JOGF field true, AND, Hard High limit false), OR,
@@ -756,7 +771,7 @@ static long postProcess(motorRecord * pmr)
/* Use if encoder or ReadbackLink is in use. */
msta.All = pmr->msta;
bool use_rel = (((pmr->rtry != 0) && (msta.Bits.EA_PRESENT && pmr->ueip)) || pmr->urip);
bool use_rel = (pmr->rtry != 0 && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip));
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -832,7 +847,7 @@ static long postProcess(motorRecord * pmr)
/* Use if encoder or ReadbackLink is in use. */
msta.All = pmr->msta;
bool use_rel = (((pmr->rtry != 0) && (msta.Bits.EA_PRESENT && pmr->ueip)) || pmr->urip);
bool use_rel = (pmr->rtry != 0 && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip));
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -1500,11 +1515,11 @@ LOGIC:
ELSE
Calculate....
IF (UEIP set to YES, AND, MSTA indicates an encoder is present),
OR, ReadbackLink is in use (URIP).
Set "use relative move" indicator (use_rel) to true.
IF Retry enabled, AND, [(encoder present, AND, use encoder true),
OR, use readback link true]
Set relative positioning indicator true.
ELSE
Set "use relative move" indicator (use_rel) to false.
Set relative positioning indicator false.
ENDIF
Set VAL and RVAL based on DVAL; mark VAL and RVAL for posting.
@@ -2094,7 +2109,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
msta.All = pmr->msta;
/*** Use if encoder or ReadbackLink is in use. ***/
if (((pmr->rtry != 0) && (msta.Bits.EA_PRESENT && pmr->ueip)) || pmr->urip)
if (pmr->rtry != 0 && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip))
use_rel = true;
else
use_rel = false;