public void addEotDatum(int nSteps) {
m_eotCount += nSteps;
Messages.postDebug("AllTuneAlgorithm", "Motor " + m_gmi + " EOT count=" + m_eotCount);
if (Math.abs(m_eotCount) > 5) {
setEot(m_eotCount);
}
}
/**
* Update the motor position, based on increment from last position. Also updates the backlash
* tracking.
*
* @param n The number of steps from the previous position.
*/
public void incrementPosition(int n) {
Messages.postDebug("BacklashTracking", "incrementPosition(" + n + ") called");
if (n != 0) {
m_position += n;
if (!isSameDirection(n)) {
m_distanceThisDirection = 0; // Reversed direction
}
m_distanceThisDirection += Math.abs(n);
if (n != 0) {
m_lastStep = n;
}
}
}
/**
* See how far we have gone in which direction since last going the other direction.
*
* @return The (signed) distance.
*/
public int getCurrentDistance() {
return m_distanceThisDirection * (int) Math.signum(m_lastStep);
}