@Override
public void moveTo(ReferenceHeadMountable hm, Location location, double speed) throws Exception {
location = location.subtract(hm.getHeadOffsets());
location = location.convertToUnits(LengthUnit.Millimeters);
double x = location.getX();
double y = location.getY();
double z = location.getZ();
double c = location.getRotation();
StringBuffer sb = new StringBuffer();
if (!Double.isNaN(x) && x != this.x) {
sb.append(String.format(Locale.US, "X%2.2f ", x));
}
if (!Double.isNaN(y) && y != this.y) {
sb.append(String.format(Locale.US, "Y%2.2f ", y));
}
if (!Double.isNaN(z) && z != this.z) {
sb.append(String.format(Locale.US, "Z%2.2f ", z));
}
if (!Double.isNaN(c) && c != this.c) {
sb.append(String.format(Locale.US, "E%2.2f ", c));
}
if (sb.length() > 0) {
sb.append(String.format(Locale.US, "F%2.2f", feedRateMmPerMinute));
sendCommand("G1 " + sb.toString());
dwell();
}
if (!Double.isNaN(x)) {
this.x = x;
}
if (!Double.isNaN(y)) {
this.y = y;
}
if (!Double.isNaN(z)) {
this.z = z;
}
if (!Double.isNaN(c)) {
this.c = c;
}
}
@Override
public Location getLocation(ReferenceHeadMountable hm) {
return new Location(LengthUnit.Millimeters, x, y, z, c).add(hm.getHeadOffsets());
}