----- Begin Included Message -----
>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);
}
----- End Included Message -----
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