Changeset 8866 for trunk


Ignore:
Timestamp:
02/20/08 20:32:28 (17 years ago)
Author:
tbretz
Message:
*** empty log message ***
File:
1 edited

Legend:

Unmodified
Added
Removed

  • trunk/MagicSoft/Cosy/devdrv/macs.cc

    r8865 r8866  
    606606void Macs::SetAcceleration(LWORD_t acc)
    607607{
    608     gLog << dbg << "- Setting acceleration to: " << vel << endl;
     608    gLog << dbg << "- Setting acceleration to: " << acc << endl;
    609609    SendSDO(0x2003, 0, acc);  // acceleration
    610610    WaitForSdo(0x2003, 0);
    … …  
    613613void Macs::SetDeceleration(LWORD_t dec)
    614614{
    615     gLog << dbg << "- Setting deceleration to: " << vel << endl;
     615    gLog << dbg << "- Setting deceleration to: " << dec << endl;
    616616    SendSDO(0x2003, 1, dec);
    617617    WaitForSdo(0x2003, 1);
    … …  
    635635void Macs::StartRelPos(LWORDS_t pos)
    636636{
    637     if (!fIsArmed)
     637    if (!fArmed)
    638638    {
    639639        gLog << err << GetNodeName() << ": ERROR - Moving without being armed is not allowed." << endl;
    … …  
    648648void Macs::StartAbsPos(LWORDS_t pos)
    649649{
    650     if (!fIsArmed)
     650    if (!fArmed)
    651651    {
    652652        gLog << err << GetNodeName() << ": ERROR - Moving without being armed is not allowed." << endl;
    653653        return;
    654654    }
     655
    655656    gLog << dbg << GetNodeName() << ": Starting relative positioning by " << (LWORD_t)pos << " ticks." << endl;
    656657    SendSDO(0x6004, 0, (LWORD_t)pos);
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