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

Use RDBD as threshold for controller's position takes

Browse Source 
precedence at initialization.
This commit is contained in:
Ron Sluiter
2005-06-07 14:30:36 +00:00
parent 596c2e8971
commit f55ccacab2
1 changed files with 10 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/MotorSrc/motordevCom.cc
+10 -6
View File
@@ -3,9 +3,9 @@ FILENAME: motordevCom.cc
USAGE... This file contains device functions that are common to all motor
record device support modules.
Version: $Revision: 1.6 $
Version: $Revision: 1.7 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-02-03 19:42:47 $
Last Modified: $Date: 2005-06-07 14:30:36 $
*/
/*
@@ -43,6 +43,8 @@ Last Modified: $Date: 2004-02-03 19:42:47 $
* .04a 02-19-97 tmm fixed for EPICS 3.13
* .05 06/13/03 rls Ported to R3.14.
* .06 02/03/04 rls Initialize PID parameters from motor_init_record_com().
* .07 06/07/05 rls Use RDBD as threshold for controller's position takes
* precedence over the save/restore value at initialization.
*/
@@ -140,9 +142,9 @@ LOGIC...
Set local encoder ratio to unity.
ENDIF
Set Initialize position indicator based on (DVEL != 0, AND, MRES != 0,
AND, the above "get_axis_info()" position == 0) [NOTE: non-zero controller
position takes precedence over autorestore position].
Set Initialize position indicator based on (|DVEL| > RDBD, AND, MRES != 0,
AND, the above "get_axis_info()" position < RDBD) [NOTE: |controller
position| >= RDBD takes precedence over save/restore position].
Set Command Primitive Initialization string indicator based on (non-NULL "init"
pointer, AND, non-zero string length.
@@ -279,7 +281,9 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
ep_mp[1] = 1.;
}
initPos = (mr->dval != 0 && mr->mres != 0 && axis_query.position == 0) ? true : false;
initPos = (fabs(mr->dval) > mr->rdbd && mr->mres != 0 &&
(float) (axis_query.position * mr->mres) < mr->rdbd)
? true : false;
/* Test for command primitive initialization string. */
initString = (mr->init != NULL && strlen(mr->init)) ? true : false;
/* Test for PID support. */