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Use absolute value of MRES to calculate rdbdpos, to avoid erroneous motor moving

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states.
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Peter Denison
2007-11-02 14:39:59 +00:00
parent 936d0c376b
commit e5b9987b95
1 changed files with 5 additions and 4 deletions
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motorApp/MotorSrc/motorRecord.cc
+5 -4
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.39 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-04-06 18:35:38 $
Version: $Revision: 1.40 $
Modified By: $Author: peterd $
Last Modified: $Date: 2007-11-02 14:39:59 $
*/
/*
@@ -92,6 +92,7 @@ Last Modified: $Date: 2007-04-06 18:35:38 $
* .30 03-16-07 rls - Clear home request when soft-limit violation occurs.
* .31 04-06-07 rls - RDBD was being used in motordevCom.cc
* motor_init_record_com() before the validation check.
* .40 11-02-07 pnd - Use absolute value of mres to calculate rdbdpos
*/
#define VERSION 6.3
@@ -1990,7 +1991,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
bool use_rel, preferred_dir;
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
long rdbdpos = NINT(pmr->rdbd / pmr->mres); /* retry deadband steps */
long rdbdpos = NINT(pmr->rdbd / fabs(pmr->mres)); /* retry deadband steps */
long rpos, npos;
msta_field msta;
msta.All = pmr->msta;