Commit c305ce42 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

corrected wait time for short movements

parent bd593f60

src/main/java/com/elphel/imagej/calibration/hardware/GoniometerMotors.java

+3 −0
Original line number Original line Diff line number Diff line
@@ -31,6 +31,7 @@ public class GoniometerMotors{ 




        public double coefficientETA=1.5;  // allow moving 1.5 longer than at maximal speed

        public double coefficientETA=1.5;  // allow moving 1.5 longer than at maximal speed

        

        



        private long nanoETA;

        private long nanoETA;

        private long nanoReferenceTime; // last time the position was checked

        private long nanoReferenceTime; // last time the position was checked

        private int []referencePosition=null;

        private int []referencePosition=null;
@@ -110,6 +111,8 @@ public class GoniometerMotors{ 
        	commandElphel10364Motors("http://"+this.ipAddress+"/10364.php?m"+(motorNumber+1)+"="+this.targetPosition[motorNumber]+"sleep=1");

        	commandElphel10364Motors("http://"+this.ipAddress+"/10364.php?m"+(motorNumber+1)+"="+this.targetPosition[motorNumber]+"sleep=1");

        	enableMotors(true);

        	enableMotors(true);

			nanoETA=System.nanoTime()+((long)(1E9*(Math.abs(this.targetPosition[motorNumber]-this.curpos[motorNumber])*(this.coefficientETA/this.stepsPerSecond))));

			nanoETA=System.nanoTime()+((long)(1E9*(Math.abs(this.targetPosition[motorNumber]-this.curpos[motorNumber])*(this.coefficientETA/this.stepsPerSecond))));

			

			nanoETA += (long)(1E9*this.motorsStuckTestTime); // =5.0; // seconds

			return true;

			return true;

        }

        }

/*

/*