asynMotor: Introduce motorActVelocity#238
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kmpeters merged 1 commit intoepics-modules:masterfrom Feb 24, 2026
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commit 11229ed, Fixed RVEL bug, made a change to be able to set the .RVEL field in the motorRecord from a model 3 driver. However, this mixes motorVelocity_, which is a setpoint changed with every movement, with an actual value, which changes while the motor is moving. And goes to 0.0 when the motor has stopped. Or stays at 0.0 when the motor refuse to start. This may be caused by an interlock, limit switch, power off or others. In short: Introduce a new asynParameter to store the value. Compatiblity considarations: Since the .RVEL field has never been working for an asynMotor, we don't expect any. If needed, code can be adopted at compile time, with something like this: #ifdef motorActVelocityString setDoubleParam(pC_->motorActVelocity_, st_axis_status.fActVelocity); #endif
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@tboegi, thanks for this pull request. |
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commit 11229ed, Fixed RVEL bug, made a change to be able to set the .RVEL field in the motorRecord from a model 3 driver. However, this mixes motorVelocity_,
which is a setpoint changed with every movement, with an actual value, which changes while the motor is moving.
And goes to 0.0 when the motor has stopped.
Or stays at 0.0 when the motor refuse to start.
This may be caused by an interlock, limit switch, power off or others.
In short: Introduce a new asynParameter to store the value.
Compatiblity considarations:
Since the .RVEL field has never been working for an asynMotor, we don't expect any.
If needed, code can be adopted at compile time, with something like this:
setDoubleParam(pC_->motorActVelocity_,
st_axis_status.fActVelocity);
#endif