From: Michael G. <gi...@gi...> - 2009-08-22 10:17:49
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Use existing joint velocity pin for free tp Signed-off-by: Michael Geszkiewicz <mi...@wp...> http://git.linuxcnc.org/?p=emc2.git;a=commitdiff;h=7ab2264 --- src/emc/motion/control.c | 2 +- src/emc/motion/mot_priv.h | 1 - src/emc/motion/motion.c | 6 ------ 3 files changed, 1 insertions(+), 8 deletions(-) diff --git a/src/emc/motion/control.c b/src/emc/motion/control.c index 610e3c4..1848acc 100644 --- a/src/emc/motion/control.c +++ b/src/emc/motion/control.c @@ -1100,6 +1100,7 @@ static void get_pos_cmds(long period) simple_tp_update(&(joint->free_tp), servo_period ); /* copy free TP output to pos_cmd and coarse_pos */ joint->pos_cmd = joint->free_tp.curr_pos; + joint->vel_cmd = joint->free_tp.curr_vel; joint->coarse_pos = joint->free_tp.curr_pos; /* update joint status flag and overall status flag */ if ( joint->free_tp.active ) { @@ -1799,7 +1800,6 @@ static void output_to_hal(void) *(joint_data->free_pos_cmd) = joint->free_tp.pos_cmd; *(joint_data->free_vel_lim) = joint->free_tp.max_vel; - *(joint_data->free_curr_vel) = joint->free_tp.curr_vel; *(joint_data->free_tp_enable) = joint->free_tp.enable; *(joint_data->kb_jog_active) = joint->kb_jog_active; *(joint_data->wheel_jog_active) = joint->wheel_jog_active; diff --git a/src/emc/motion/mot_priv.h b/src/emc/motion/mot_priv.h index 3b8f537..29b19b2 100644 --- a/src/emc/motion/mot_priv.h +++ b/src/emc/motion/mot_priv.h @@ -46,7 +46,6 @@ typedef struct { hal_float_t *free_pos_cmd; /* RPI: free traj planner pos cmd */ hal_float_t *free_vel_lim; /* RPI: free traj planner vel limit */ - hal_float_t *free_curr_vel; /* RPI: free traj planner current vel */ hal_bit_t *free_tp_enable; /* RPI: free traj planner is running */ hal_bit_t *kb_jog_active; /* RPI: executing keyboard jog */ hal_bit_t *wheel_jog_active;/* RPI: executing handwheel jog */ diff --git a/src/emc/motion/motion.c b/src/emc/motion/motion.c index 25989b1..db9cfc6 100644 --- a/src/emc/motion/motion.c +++ b/src/emc/motion/motion.c @@ -742,12 +742,6 @@ static int export_joint(int num, joint_hal_t * addr) if (retval != 0) { return retval; } - rtapi_snprintf(buf, HAL_NAME_LEN, "joint.%d.free-curr-vel", num); - retval = - hal_pin_float_new(buf, HAL_OUT, &(addr->free_curr_vel), mot_comp_id); - if (retval != 0) { - return retval; - } rtapi_snprintf(buf, HAL_NAME_LEN, "joint.%d.free-tp-enable", num); retval = hal_pin_bit_new(buf, HAL_OUT, &(addr->free_tp_enable), mot_comp_id); |