Commit 28673df9 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

bug fix in goniometer move

parent d2be09fb

src/main/java/CalibrationHardwareInterface.java

+6 −1
Original line number Diff line number Diff line
@@ -2609,7 +2609,7 @@ public class CalibrationHardwareInterface { 
			nanoETA=System.nanoTime()+((long)(1E9*(Math.abs(this.targetPosition[motorNumber]-this.curpos[motorNumber])*(this.coefficientETA/this.stepsPerSecond))));

			return true;

        }

        

/*        

        public boolean [] checkGotTarget(){

    		updateMotorsPosition(0); // no wait here

    		boolean [] result=new boolean [this.curpos.length];
@@ -2618,6 +2618,11 @@ public class CalibrationHardwareInterface { 
    		}

    		return result;

        }

*/

        public boolean checkGotTarget(int motorNumber, int position){

    		updateMotorsPosition(0); // no wait here

    		return Math.abs(position-this.curpos[motorNumber])<this.motorTolerance;

        }



        public boolean waitMotor(

        		int motorNumber,

src/main/java/Goniometer.java

+2 −2
Original line number Diff line number Diff line
@@ -476,7 +476,7 @@ horizontal axis: 
			AtomicInteger stopRequested, // or null

			boolean updateStatus){

		String status;

		if (!this.goniometerParameters.goniometerMotors.checkGotTarget()[axialMotor]) {

		if (!this.goniometerParameters.goniometerMotors.checkGotTarget(axialMotor,axialMotorPosition)) {

			status="Moving axial motor to "+axialMotorPosition+"...";

			if (updateStatus) IJ.showStatus(status);

			boolean OK= this.goniometerParameters.goniometerMotors.moveMotorSetETA(axialMotor, axialMotorPosition);
@@ -494,7 +494,7 @@ horizontal axis: 
				return false;

			}

		}

		if (!this.goniometerParameters.goniometerMotors.checkGotTarget()[tiltMotor]) {

		if (!this.goniometerParameters.goniometerMotors.checkGotTarget(tiltMotor,tiltMotorPosition))) {

			status="Moving tilt motor to "+tiltMotorPosition+"...";

			if (updateStatus) IJ.showStatus(status);

			boolean OK= this.goniometerParameters.goniometerMotors.moveMotorSetETA(tiltMotor, tiltMotorPosition);