optimizing goniometer moves

src/main/java/CalibrationHardwareInterface.java

@@ -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

@@ -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;
 	}