Changeset 319

Timestamp:

06/25/08 07:49:32 (5 years ago)

Author:

fma

Message:

Do not use _drive2() anymore (delayed for future release)

File:

• trunk/hardware/axis.py (modified) (5 diffs)

trunk/hardware/axis.py

@@ -151 +151 @@
         @type wait: boot
         """
+        currentPos = self.read()
 
         # Compute absolute position from increment if needed
         if inc:
-            currentPos = self.read()
             pos = currentPos + inc
         else:
@@ -163 +163 @@
             self._drive1(pos)
         else:
-            self._drive2(pos)
+            self._drive1(pos)
 
         # Wait end of movement
@@ -176 +176 @@
         @type pos: float
         """
+        Logger().trace("Axis._drive1()")
         strValue = encodeAxisValue(deg2cod(pos))
         self._driver.acquireBus()
@@ -197 +198 @@
         @type pos: float
         """
+        Logger().trace("Axis._drive2()")
         self._driver.acquireBus()
         try:
@@ -217 +219 @@
 
         # Closed-loop drive
+        stopRequest = False
         while abs(pos - self.read()) > .5: # optimal delta depends on speed/inertia
-            time.sleep(0.01)
-        self.stopJog()
+            
+            # Test if a stop request has been sent
+            status = self.getStatus()
+            if status[1] == '0':
+                stopRequest = True
+                break
+            time.sleep(0.1)
+        self.stop()
 
         # Final drive (auto) if needed
-        if abs(pos - self.read()) > config.AXIS_ACCURACY:
+        if abs(pos - self.read()) > config.AXIS_ACCURACY and not stopRequest:
             self._drive1(pos)