still having problems w/ altiva 32s

(*********************************************************
On-the-Fly Time Delay Calculation (using current velocity)

Time Delay Before Stop = (Desired Stop Dist - (Velocity in ft/sec **2 / 2 * drive decel))/Velocity
**********************************************************)

(*** BRIDGE ***)

(*convert current bridge speed rpm into ft/sec*)
bridge_write_speed_real := INT_TO_REAL (IN := Bridge_write_speed_rpm);
(*1.5708 x velocity ft/sec / 30 (30:1 gear box) x 60 sec*)
bridge_write_speed_ft_sec:= 1.5708 * bridge_write_speed_real / (30.0 * 60.0);


(*calculate time delay for stop; if/then prevents a divide by zero error*)
If (bridge_write_speed_ft_sec > 0.0) then
	bridge_stop_time_delay_real:= (1.0 - (bridge_write_speed_ft_sec**2)/2.467)/bridge_write_speed_ft_sec;
	(*convert decimal time delay real into milli seconds*)
	bridge_stop_time_delay:=REAL_TO_DINT(bridge_stop_time_delay_real * 1000.0);
end_if;

If (bridge_stop_time_delay > 0) Then
	bridge_stop_time_preset_calc:= DINT_TO_TIME(bridge_stop_time_delay);
else
	bridge_stop_time_preset_calc:= t#0s;
end_if;