Unverified Commit c853c4a4 authored by Giuseppe Carboni's avatar Giuseppe Carboni Committed by GitHub
Browse files

Fix #887, commanded minor servo preset after offset (#894)

parent 9c7b8639

SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp

+24 −12
Original line number Diff line number Diff line
@@ -682,9 +682,11 @@ void SRTMinorServoBossCore::clearUserOffsets(std::string servo_name) 
        for(const auto& [servo_name, servo] : m_current_servos)

        {

            servo->clearUserOffsets();

            if(motion_status == MOTION_STATUS_CONFIGURED)

            if(motion_status == MOTION_STATUS_CONFIGURED || m_tracking_servos.find(servo_name) == m_tracking_servos.end())

            {

                // We are not tracking but we need to update the servo position to load the offsets

                // We get here in 2 different scenarios

                // 1) The system is configured and is not tracking the elevation, therefore we ALWAYS need to update the position of the servo we just set the offset

                // 2) The servo we set the offset is not a program track servo, therefore we need to update its position manually

                servo->preset(ACS::doubleSeq());

            }

        }
@@ -702,9 +704,11 @@ void SRTMinorServoBossCore::clearUserOffsets(std::string servo_name) 
    {

        auto servo = m_current_servos.at(servo_name);

        servo->clearUserOffsets();

        if(motion_status == MOTION_STATUS_CONFIGURED)

        if(motion_status == MOTION_STATUS_CONFIGURED || m_tracking_servos.find(servo_name) == m_tracking_servos.end())

        {

            // We are not tracking but we need to update the servo position to load the offsets

            // We get here in 2 different scenarios

            // 1) The system is configured and is not tracking the elevation, therefore we ALWAYS need to update the position of the servo we just set the offset

            // 2) The servo we set the offset is not a program track servo, therefore we need to update its position manually

            servo->preset(ACS::doubleSeq());

        }

    }
@@ -764,9 +768,11 @@ void SRTMinorServoBossCore::setUserOffset(std::string servo_axis_name, double of 
        }

        servo->setUserOffset(axis_name.c_str(), offset);



        if(m_motion_status.load() == MOTION_STATUS_CONFIGURED)

        if(m_motion_status.load() == MOTION_STATUS_CONFIGURED || m_tracking_servos.find(servo_name) == m_tracking_servos.end())

        {

            // We are not tracking but we need to update the servo position to load the offsets

            // We get here in 2 different scenarios

            // 1) The system is configured and is not tracking the elevation, therefore we ALWAYS need to update the position of the servo we just set the offset

            // 2) The servo we set the offset is not a program track servo, therefore we need to update its position manually

            servo->preset(ACS::doubleSeq());

        }

    }
@@ -835,9 +841,11 @@ void SRTMinorServoBossCore::clearSystemOffsets(std::string servo_name) 
        for(const auto& [servo_name, servo] : m_current_servos)

        {

            servo->clearSystemOffsets();

            if(motion_status == MOTION_STATUS_CONFIGURED)

            if(motion_status == MOTION_STATUS_CONFIGURED || m_tracking_servos.find(servo_name) == m_tracking_servos.end())

            {

                // We are not tracking but we need to update the servo position to load the offsets

                // We get here in 2 different scenarios

                // 1) The system is configured and is not tracking the elevation, therefore we ALWAYS need to update the position of the servo we just set the offset

                // 2) The servo we set the offset is not a program track servo, therefore we need to update its position manually

                servo->preset(ACS::doubleSeq());

            }

        }
@@ -855,9 +863,11 @@ void SRTMinorServoBossCore::clearSystemOffsets(std::string servo_name) 
    {

        auto servo = m_current_servos.at(servo_name);

        servo->clearSystemOffsets();

        if(motion_status == MOTION_STATUS_CONFIGURED)

        if(motion_status == MOTION_STATUS_CONFIGURED || m_tracking_servos.find(servo_name) == m_tracking_servos.end())

        {

            // We are not tracking but we need to update the servo position to load the offsets

            // We get here in 2 different scenarios

            // 1) The system is configured and is not tracking the elevation, therefore we ALWAYS need to update the position of the servo we just set the offset

            // 2) The servo we set the offset is not a program track servo, therefore we need to update its position manually

            servo->preset(ACS::doubleSeq());

        }

    }
@@ -913,9 +923,11 @@ void SRTMinorServoBossCore::setSystemOffset(std::string servo_axis_name, double 
        auto servo = m_current_servos.at(servo_name);

        servo->setSystemOffset(axis_name.c_str(), offset);



        if(m_motion_status.load() == MOTION_STATUS_CONFIGURED)

        if(m_motion_status.load() == MOTION_STATUS_CONFIGURED || m_tracking_servos.find(servo_name) == m_tracking_servos.end())

        {

            // We are not tracking but we need to update the servo position to load the offsets

            // We get here in 2 different scenarios

            // 1) The system is configured and is not tracking the elevation, therefore we ALWAYS need to update the position of the servo we just set the offset

            // 2) The servo we set the offset is not a program track servo, therefore we need to update its position manually

            servo->preset(ACS::doubleSeq());

        }

    }