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);
}
}
/**
* Set flag indicating if this motor is at the end of it's travel. Typically called after making a
* motion of "step" motor steps. A positive value of "step" indicates are at the positive EOT. A
* negative value of "step" indicates are at the negative EOT. A zero value for "step" indicates
* are not at EOT.
*
* @param step Flag that we are at EOT for steps in this direction.
*/
public void setEot(int step) {
m_eotStatus = step;
if (step == 0) {
m_eotCount = 0;
} else if (DebugOutput.isSetFor("TuneAlgorithm")) {
Messages.postDebug("Setting EOT=" + step + " on motor " + m_gmi);
}
}
private boolean readPersistence(boolean sysFlag) {
String path = getPersistenceFilePath(sysFlag);
boolean ok = readPersistence(path);
if (!ok && sysFlag) {
Messages.postError("Cannot read persistence file: " + path);
}
return ok;
}
/**
* 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;
}
}
}
public boolean readPersistence(String path) {
BufferedReader input = TuneUtilities.getReader(path);
String line = null;
boolean rtn = true;
try {
while ((line = input.readLine()) != null) {
StringTokenizer toker = new StringTokenizer(line);
if (toker.hasMoreTokens()) {
String key = toker.nextToken().toLowerCase();
if (key.equals("backlash")) {
double backlash = Double.parseDouble(toker.nextToken());
// backlash = Math.max(MIN_BACKLASH, backlash);/*CMP*/
// backlash = Math.min(MAX_BACKLASH, backlash);/*CMP*/
setBacklash(backlash);
m_backlashGroup.clear();
while (toker.hasMoreTokens()) {
m_backlashGroup.add(new Integer(toker.nextToken()));
}
} else if (key.equals("backlashlimits")) {
m_maxBacklash = Double.parseDouble(toker.nextToken());
if (toker.hasMoreTokens()) {
m_minBacklash = Double.parseDouble(toker.nextToken());
}
} else if (key.equals("steps/rev")) {
m_stepsPerRev = Integer.parseInt(toker.nextToken());
} else if (key.equals("limit")) {
m_minLimit = Integer.parseInt(toker.nextToken());
if (toker.hasMoreTokens()) {
m_maxLimit = Integer.parseInt(toker.nextToken());
}
} else if (key.equals("odom")) {
m_odometerCW = Long.parseLong(toker.nextToken());
m_odometerCCW = Long.parseLong(toker.nextToken());
} else if (key.equals("mincalstep")) {
m_minCalStep = Integer.valueOf(toker.nextToken());
} else if (key.equals("indexdirection")) {
int dir = Integer.parseInt(toker.nextToken());
m_indexDirection = dir > 0 ? 1 : -1;
} else if (key.equals("indexdistance")) {
m_indexDistance = Integer.parseInt(toker.nextToken());
} else if (key.equals("reqswversion")) {
// Verify version of software and persistence file
m_minSWVersion = toker.nextToken();
if (!ProbeTune.isSwVersionAtLeast(m_minSWVersion)) {
String msg =
"Require software version "
+ m_minSWVersion
+ "<br>"
+ " to operate on the file "
+ path;
Messages.postError(msg);
String title = "Incompatible_Motor_File";
m_master.sendToGui("popup error title " + title + " msg " + msg);
}
}
}
}
} catch (NumberFormatException nfe) {
Messages.postError("Bad number in persistence file: " + path + ", line: \"" + line + "\"");
rtn = false;
} catch (NoSuchElementException nsee) {
Messages.postError("Bad line in persistence file: " + path + ", line: \"" + line + "\"");
rtn = false;
} catch (Exception e) {
rtn = false;
} finally {
try {
input.close();
} catch (Exception e) {
}
}
return rtn;
}
