public void writePersistence() {
StringBuffer sb = new StringBuffer();
if (!m_minSWVersion.equalsIgnoreCase("0.0")) {
sb.append("ReqSWVersion " + m_minSWVersion + NL);
}
sb.append("Steps/rev " + m_stepsPerRev + NL);
if (m_indexDirection != 0) {
sb.append("IndexDirection " + m_indexDirection + NL);
}
if (m_indexDistance != 0) {
sb.append("IndexDistance " + m_indexDistance + NL);
}
sb.append("Limit " + m_minLimit + " " + m_maxLimit + NL);
sb.append("Backlash " + getBacklash() + NL);
if (!Double.isNaN(m_minBacklash)) {
sb.append("BacklashLimits " + (int) m_minBacklash);
if (!Double.isNaN(m_maxBacklash)) {
sb.append(" " + (int) m_maxBacklash);
}
sb.append(NL);
}
sb.append("Odom " + m_odometerCW + " " + m_odometerCCW + NL);
if (m_minCalStep != 0) {
sb.append("MinCalStep " + m_minCalStep + NL);
}
String path = getPersistenceFilePath(false);
TuneUtilities.writeFile(path, sb.toString());
}
