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()); }