Moving the motor disable into the disconnect function. #26

NeuronRobotics · May 13, 2016 · bce4b95 · bce4b95
1 parent e3dab2f
commit bce4b95
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Showing 2 changed files with 5 additions and 3 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
@@ -31,6 +31,8 @@ public GcodeDevice(NRSerialPort serial){
 
 	@Override
 	public void disconnectDeviceImp() {
+		if(serial.isConnected())
+			runLine("M84");// Disable motors on exit
 		if(ins!=null){
 			try {
 				ins.close();

diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java
@@ -72,19 +72,19 @@ public void G1() {
 			else {
 				fail("No response");
 			}
-			response = device.runLine("G0 X100 Y100 Z100 E100 F12000");
+			response = device.runLine("G0 X100 Y100 Z100 E100 F22000");
 			if (response.length() > 0)
 				System.out.println("Gcode line run: " + response);
 			else {
 				fail("No response");
 			}
-			response = device.runLine("G0 X0 Y0 Z0 E0 F12000");
+			response = device.runLine("G0 X0 Y0 Z0 E0 F22000");
 			if (response.length() > 0)
 				System.out.println("Gcode line run: " + response);
 			else {
 				fail("No response");
 			}
-			device.runLine("M84");// Disable motors on exit
+
 		}
 	}