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Clear home request when soft-limit violation occurs.

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This commit is contained in:
Ron Sluiter
2007-03-16 20:30:41 +00:00
parent f5001c4526
commit ea98363785
1 changed files with 16 additions and 5 deletions
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motorApp/MotorSrc/motorRecord.cc
+16 -5
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.37 $
Modified By: $Author: peterd $
Last Modified: $Date: 2007-02-03 12:01:49 $
Version: $Revision: 1.38 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-03-16 20:30:41 $
*/
/*
@@ -89,9 +89,10 @@ Last Modified: $Date: 2007-02-03 12:01:49 $
* status update.
* .29 06-30-06 rls - Change do_work() test for "don't move if within RDBD",
* from float to integer; avoid equality test errors.
* .30 03-16-07 rls - Clear home request when soft-limit violation occurs.
*/
#define VERSION 6.1
#define VERSION 6.2
#include <stdlib.h>
#include <string.h>
@@ -1723,8 +1724,18 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
else if ((pmr->homf && (pmr->dval > pmr->dhlm - pmr->velo)) ||
(pmr->homr && (pmr->dval < pmr->dllm + pmr->velo)))
{
pmr->lvio = 1;
pmr->lvio = 1; /* Set limit violation ON. */
MARK(M_LVIO);
if (pmr->homf)
{
pmr->homf = 0; /* Clear Home Forward request. */
MARK_AUX(M_HOMF);
}
if (pmr->homr)
{
pmr->homr = 0; /* Clear Home Reverse request. */
MARK_AUX(M_HOMR);
}
return(OK);
}
pmr->mip = pmr->homf ? MIP_HOMF : MIP_HOMR;