I finally got it right. Newbie mistake. Forgot to sudo make install when
rebuilding my version of the code. But my proposed fix was correct.
I attach the git diff file. I would appreciate if someone would check it before
(someone with the power) pushes it into the main branch.
Thanks
Lisandro
> From: [email protected]
> To: [email protected]
> Date: Sat, 22 Dec 2012 08:12:06 -0500
> Subject: Re: [Emc-developers] Error when jogging axes in teleop mode
>
> On Saturday 22 December 2012 08:03:33 andy pugh did opine:
>
> > On 21 December 2012 17:04, Lisandro Massera <[email protected]>
> wrote:
> > > Is there any problem using the abs() function in a real time module?
> >
> > abs() is an integer function.
>
> Mmmm, according to my "man 9 abs", its a float. And the output I see on
> the halmeter is a float.
>
> > There is fabs() for floating point. (which is valid in realtime code)
>
> There is a fabs, fabsf, fabsl in linux, man pages are in man3, but it isn't
> part of linuxcnc, from my read of their man pages, its usable in a bash
> script or similar.
>
> Cheers, Gene
> --
> "There are four boxes to be used in defense of liberty:
> soap, ballot, jury, and ammo. Please use in that order."
> -Ed Howdershelt (Author)
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> Green's Law of Debate:
> Anything is possible if you don't know what you're talking about.
> I was taught to respect my elders, but its getting
> harder and harder to find any...
>
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diff --git a/src/emc/motion/command.c b/src/emc/motion/command.c
index 3ee0f76..ada126d 100644
--- a/src/emc/motion/command.c
+++ b/src/emc/motion/command.c
@@ -1429,14 +1429,14 @@ check_stuff ( "before command_handler()" );
double velmag;
emcmotDebug->teleop_data.desiredVel = emcmotCommand->pos;
pmCartMag(emcmotDebug->teleop_data.desiredVel.tran, &velmag);
- if (emcmotDebug->teleop_data.desiredVel.a > velmag) {
- velmag = emcmotDebug->teleop_data.desiredVel.a;
+ if (fabs(emcmotDebug->teleop_data.desiredVel.a) > velmag) {
+ velmag = fabs(emcmotDebug->teleop_data.desiredVel.a);
}
- if (emcmotDebug->teleop_data.desiredVel.b > velmag) {
- velmag = emcmotDebug->teleop_data.desiredVel.b;
+ if (fabs(emcmotDebug->teleop_data.desiredVel.b) > velmag) {
+ velmag = fabs(emcmotDebug->teleop_data.desiredVel.b);
}
- if (emcmotDebug->teleop_data.desiredVel.c > velmag) {
- velmag = emcmotDebug->teleop_data.desiredVel.c;
+ if (fabs(emcmotDebug->teleop_data.desiredVel.c) > velmag) {
+ velmag = fabs(emcmotDebug->teleop_data.desiredVel.c);
}
if (velmag > emcmotConfig->limitVel) {
pmCartScalMult(emcmotDebug->teleop_data.desiredVel.tran,
diff --git a/src/emc/motion/control.c b/src/emc/motion/control.c
index d3590a2..2d759bd 100644
--- a/src/emc/motion/control.c
+++ b/src/emc/motion/control.c
@@ -25,6 +25,7 @@
#include "motion_debug.h"
#include "config.h"
+
// Mark strings for translation, but defer translation to userspace
#define _(s) (s)
@@ -1303,14 +1304,14 @@ static void get_pos_cmds(long period)
(emcmotDebug->teleop_data.desiredVel.c -
emcmotDebug->teleop_data.currentVel.c) /
servo_period;
- if (emcmotDebug->teleop_data.desiredAccell.a > accell_mag) {
- accell_mag = emcmotDebug->teleop_data.desiredAccell.a;
+ if (fabs(emcmotDebug->teleop_data.desiredAccell.a) > accell_mag) {
+ accell_mag = fabs(emcmotDebug->teleop_data.desiredAccell.a);
}
- if (emcmotDebug->teleop_data.desiredAccell.b > accell_mag) {
- accell_mag = emcmotDebug->teleop_data.desiredAccell.b;
+ if (fabs(emcmotDebug->teleop_data.desiredAccell.b) > accell_mag) {
+ accell_mag = fabs(emcmotDebug->teleop_data.desiredAccell.b);
}
- if (emcmotDebug->teleop_data.desiredAccell.c > accell_mag) {
- accell_mag = emcmotDebug->teleop_data.desiredAccell.c;
+ if (fabs(emcmotDebug->teleop_data.desiredAccell.c) > accell_mag) {
+ accell_mag = fabs(emcmotDebug->teleop_data.desiredAccell.c);
}
/* accell_mag should now hold the max accell */
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