Velocity should be positive

[klauer]

Velocity values should be positive, as the direction bit indicates positive/negative velocity.

One line, for example:

motorHytec/hytecApp/src/HytecMotorDriver.cpp

Line 831 in e5f3932

SET_REG(this->chanbase, REG_STARTSTOPSPD, (int)floor(min_velocity));

Local fix was as follows:
klauer/motor@bed2425

It seems as this may have been insufficient, as there are other references to the same register (REG_STARTSTOPSPD)

Disclaimer: this is from the SLAC accelerator fork of the motor record and uses hardware I don't have access to anymore, but I'm trying to bring the code back upstream as best I can. PR will follow once I get all of these issues in.

[kmpeters]

I'm not able to find an original manual for the Hytec 8601. I did find a newer manual (http://www.newwoodsolutions.co.uk/ProductPDFfiles/8602_UTM_G_x_1.0.pdf) which states this:

3.7 Ramp Rate Register (Channel base + 0Ch)

This 16-bit register is programmed in steps per second per second and sets the rate at which the
motor speed will increase or decrease during ramping. It is programmed in steps per second per
second and the minimum allowed value is 64. The granularity of the programmed value is also 64,
so the available rates are 64, 128, 192 and so on up to 1024, at which time the granularity
becomes 256. The maximum allowed value for this register is 50,000 decimal.

That description of the ramp rate register gives the impression that the code that sets the acceleration is also wrong:

motorHytec/hytecApp/src/HytecMotorDriver.cpp

Lines 840 to 841 in e5f3932

	/* XXXX: set ramp register, acceleration is steps/s/s */
	SET_REG(this->chanbase, REG_RAMPRATE, (int)floor(acceleration));

I don't have an 8601 to use for testing. I'll keep this issue open for a few more years to see if anyone still uses the 8601.