From c853c4a4af56d22548c0095149246c70d5216e00 Mon Sep 17 00:00:00 2001
From: Giuseppe Carboni <giuseppecarboni89@live.com>
Date: Mon, 20 Jan 2025 15:36:24 +0100
Subject: [PATCH] Fix #887, commanded minor servo preset after offset (#894)
---
.../src/SRTMinorServoBossCore.cpp | 36 ++++++++++++-------
1 file changed, 24 insertions(+), 12 deletions(-)
diff --git a/SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp b/SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp
index e89051753..5e3aaeb2d 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp
@@ -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());
}
}
--
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