protected void moveMotor(
final IProgressMonitor monitor, final IScannableMotor motor, final double newPosition)
throws DeviceException, InterruptedException {
double motorSpeed = motor.getSpeed();
double position = (Double) motor.getPosition();
double distance = Math.abs(position - newPosition);
double timeInSeconds = distance / motorSpeed;
logger.debug(String.format("Time to move %1$f is %2$f", distance, timeInSeconds));
logger.debug(String.format("Speed of motor %1$s is %2$f", motor.getName(), motor.getSpeed()));
motorsRunning.add(motor);
motor.asynchronousMoveTo(newPosition);
int totalTimeTakenInMills = (int) (timeInSeconds * 1000);
final int step = totalTimeTakenInMills / 10000;
SubMonitor progress =
SubMonitor.convert(
monitor,
String.format("Moving %s from %.3g to %.3g", motor.getName(), position, newPosition),
10000);
int count = 0;
while (motor.isBusy()) {
Double currPos = (Double) motor.getPosition();
progress.subTask(String.format("%s position: %.3g", motor.getName(), currPos));
progress.worked(1);
Sleep.sleep(step);
count++;
if (monitor.isCanceled()) {
motor.stop();
throw new InterruptedException("User Cancelled");
}
}
logger.debug("Motor queried count is {}", count);
motorsRunning.remove(motor);
}
protected void stopAllMotors() throws DeviceException {
for (IScannableMotor motor : motorsRunning) {
motor.stop();
}
motorsRunning.clear();
}