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Commit f54815de authored by Andrey Filippov's avatar Andrey Filippov
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improving manual goniometer control

parent 7c971fec
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src/main/java/CalibrationHardwareInterface.java
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...@@ -2602,7 +2602,10 @@ public class CalibrationHardwareInterface { ...@@ -2602,7 +2602,10 @@ public class CalibrationHardwareInterface {
this.targetPosition[motorNumber]=position; this.targetPosition[motorNumber]=position;
this.nanoReferenceTime=System.nanoTime(); this.nanoReferenceTime=System.nanoTime();
this.referencePosition=this.curpos.clone(); this.referencePosition=this.curpos.clone();
commandElphel10364Motors("http://"+this.ipAddress+"/10364.php?m"+(motorNumber+1)+"="+this.targetPosition[motorNumber]+"&enable"); // commandElphel10364Motors("http://"+this.ipAddress+"/10364.php?m"+(motorNumber+1)+"="+this.targetPosition[motorNumber]+"&enable");
// set, wait, enable (to avoid continuing "old" movement that was aborted by disable
commandElphel10364Motors("http://"+this.ipAddress+"/10364.php?m"+(motorNumber+1)+"="+this.targetPosition[motorNumber]+"sleep=1");
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))));
return true; return true;
} }
......
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