loading current values working #26

NeuronRobotics · May 14, 2016 · a6cf479 · a6cf479
1 parent 9762df2
commit a6cf479
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Showing 2 changed files with 13 additions and 19 deletions.
diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java
@@ -216,6 +216,18 @@ public void flush(double seconds) {
 			IGCodeChannel thisLink = links.get(l);
 			run +=thisLink.getAxis()+""+((AbstractLink)thisLink).getTargetValue()+" ";
 		}
+		loadCurrent();
+		AbstractLink firstLink = (AbstractLink)links.get(links.keySet().toArray()[0]);
+		double distance = firstLink.getTargetValue()-firstLink.getCurrentPosition();
+		if(distance !=0){
+			int feedrate = (int)Math.abs((distance/(seconds/60)));//mm/min
+			run +=" F"+feedrate;
+		}
+
+		runLine(run);
+	}
+
+	public void loadCurrent(){
 		String m114 =runLine("M114");
 		String[] currentPosStr = m114.split("Count")[0].split(" ");// get the current position
 		//System.out.println("Fush with current = "+m114);
@@ -229,14 +241,6 @@ public void flush(double seconds) {
 				}
 			}
 		}
-		AbstractLink firstLink = (AbstractLink)links.get(links.keySet().toArray()[0]);
-		double distance = firstLink.getTargetValue()-firstLink.getCurrentPosition();
-		if(distance !=0){
-			int feedrate = (int)Math.abs((distance/(seconds/60)));//mm/min
-			run +=" F"+feedrate;
-		}
-
-		runLine(run);
 	}
 
 }
diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java
@@ -21,17 +21,7 @@ public void cacheTargetValueDevice() {
 	}
 
 	private void loadCurrent(){
-		String m114 =device.runLine("M114");
-		String[] currentPosStr = m114.split("Count")[0].split(" ");// get the current position
-		//System.out.println("Fush with current = "+m114);
-		for(String s:currentPosStr){
-			if(s.contains(getAxis())){
-				String [] parts = s.split(":");
-				//System.out.println("Found axis = "+s);
-				setValue(Double.parseDouble(parts[1]));
-				return;
-			}
-		}
+		device.loadCurrent();
 	}
 
 	@Override