Commit d2be09fb authored by Andrey Filippov's avatar Andrey Filippov
Browse files

optimizing goniometer moves

parent f54815de

src/main/java/CalibrationHardwareInterface.java

+9 −0
Original line number Diff line number Diff line
@@ -2610,6 +2610,15 @@ public class CalibrationHardwareInterface { 
			return true;

        }

        

        public boolean [] checkGotTarget(){

    		updateMotorsPosition(0); // no wait here

    		boolean [] result=new boolean [this.curpos.length];

    		for (int motorNumber=0;motorNumber<result.length;motorNumber++){

    			result[motorNumber]=Math.abs(this.targetPosition[motorNumber]-this.curpos[motorNumber])<this.motorTolerance;

    		}

    		return result;

        }



        public boolean waitMotor(

        		int motorNumber,

        		AtomicInteger stopRequested, // or null

src/main/java/Goniometer.java

+11 −4
Original line number Diff line number Diff line
@@ -475,7 +475,9 @@ horizontal axis: 
			int axialMotorPosition,

			AtomicInteger stopRequested, // or null

			boolean updateStatus){

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

		String status;

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

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

			if (updateStatus) IJ.showStatus(status);

			boolean OK= this.goniometerParameters.goniometerMotors.moveMotorSetETA(axialMotor, axialMotorPosition);

			if (!OK) {
@@ -491,7 +493,11 @@ horizontal axis: 
				IJ.showMessage("Error",msg);

				return false;

			}

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

		}

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

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

			if (updateStatus) IJ.showStatus(status);

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

			if (!OK) {

				String msg="Could not set motor "+(tiltMotor+1)+" to move to "+tiltMotorPosition+" - may be out of limit";

				System.out.println("Error: "+msg);
@@ -505,6 +511,7 @@ horizontal axis: 
				IJ.showMessage("Error",msg);

				return false;

			}

		}

		return true;

	}