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Rework the motor end-of-motion tests when creeping

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This commit is contained in:
Douglas Clowes
2013-07-11 17:19:44 +10:00
parent 1a64c0a4a9
commit 1d18fbf646
1 changed files with 11 additions and 2 deletions
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13
site_ansto/motor_dmc2280.c
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@@ -606,25 +606,34 @@ static int motCreep(pDMC2280Driv self, double target) {
else if (offset < 0) /* moving down */
self->creep_val = +1;
} else {
int iRet = 0;
/*
* not first, bump the direction sensitive counters
*/
if (self->creep_val > 0) { /* moving down */
/* Handle the case of overrunning the target by reversing direction */
if (offset >= 0)
iRet = 1;
++self->creep_val;
} else {
/* Handle the case of overrunning the target by reversing direction */
if (offset <= 0)
iRet = 1;
--self->creep_val;
}
/*
* In all repetitive things, there just has to be a limit
*/
if (abs(self->creep_val) > MAX_CREEP_STEPS &&
abs(self->creep_val) > 2.0 * fabs(self->stepsPerX / self->cntsPerX)) {
if (abs(self->creep_val) > MAX_CREEP_STEPS) {
if (self->debug) {
char line[CMDLEN];
snprintf(line, CMDLEN, "Motor=%s creep stopped, stepcount = %d",
self->name, self->stepCount);
SICSLogWrite(line, eStatus);
}
iRet = 1;
}
if (iRet > 0) {
/*
* self->preseek remains zero to say we are finished
*/