Experimental Physics and
Industrial Control System

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>From [email protected] Thu Mar 26 15:04:08 1998
Date: Thu, 26 Mar 1998 16:03:46 -0600
From: [email protected] (Ronald L. Sluiter)
To: [email protected]
Subject: Re: Stops in the motor record
Cc: [email protected]
Mime-Version: 1.0
Content-Transfer-Encoding: 7bit
Content-MD5: UNxWqAf1TNBEizI9Wb2JkA==

That code fragment was changed by Tim Mooney with release 3.13.0.beta7 to
the following:

 * .33  05-29-97 tmm  v3.2 Watchdog callback for encoder-settling time delay.
 *                    Added DLY field to implement delay.
 *                    Split postProcess() and maybeRetry() out of process().
 *                    Fix problem of first call to process() looking like a
 *                    device-support callback (first move command fails).
 *                    Don't do mid-course checks if using encoder or readback
 *                    device.  (We don't know how badly they might behave while
 *                    the motor's moving.)  Set .res field in init_record().
 *                    Set retry deadband according to .mres, .eres, and .bdst.

	/*
	 * Are we going in the wrong direction?  (Don't be
	 * fooled by a backlash correction into saying "yes".
	 * 'Jog*' and 'Hom*' motions don't get midcourse
	 * corrections since we don't know their
	 * destinations.)
	 * v3.2: Don't do this check with an encoder or readback device.
	 */
	Debug(10, "process: rvel = %dn", pmr->rvel);
	if (!pmr->ueip && !pmr->urip &&
		(fabs(pmr->diff) > 2 * (fabs(pmr->bdst) + pmr->rdbd)) &&
		/* should work both with relative and absolute moves */
	    ((pmr->rdif > 0) != (pmr->tdir == 1)) &&
	    (pmr->rvel != 0) && (MARKED(M_RRBV)) &&
	    ((pmr->mip == MIP_MOVE) || (pmr->mip == MIP_RETRY))) {

		/* We're going in the wrong direction. Readback problem? */
		Debug(2, "process: wrong direction, diff = %f", pmr->diff);
		printf("%s:tdir = %dn", pmr->name, pmr->tdir);
		INIT_MSG();
		WRITE_MSG(STOP_AXIS, NULL);
		SEND_MSG();
		pmr->mip |= MIP_STOP;
		MARK(M_MIP);
	}


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