/**
* \brief Move Focuser to a given position
*
* This method ensures that the movement always comes from the same side.
* If the current position below the new position, nothing needs to be
* done. If however the current position is above the new position then
* the focuser is first moved to the target position minus the backlash
* amount before being moved to the target position.
*/
void FocusWork::moveto(unsigned short position) {
// ensure we are inside the interval
if (position < min()) {
throw std::runtime_error("internal error: Focuser move below min");
}
if (position > max()) {
throw std::runtime_error("interval error: focuser move above max()");
}
// switch state to moving
focusingstatus(Focusing::MOVING);
// check whether backlash compensation is needed
if ((backlash() > 0) && (focuser()->current() > position)) {
unsigned short compensated = position - backlash();
if (position < backlash()) {
debug(LOG_WARNING, DEBUG_LOG, 0,
"not enough room for backlash: current = %hu, "
"position = %hu, backlash = %hu",
focuser()->current(), position, backlash());
compensated = 0;
}
debug(LOG_DEBUG, DEBUG_LOG, 0,
"moving to compensated position: %hu", compensated);
focuser()->moveto(compensated);
}
// now move to the final position
debug(LOG_DEBUG, DEBUG_LOG, 0, "move to final position: %hu",
position);
focuser()->moveto(position);
}
void AsiMS2000::selectCommand(int commandNum)
{
switch(commandNum)
{
case 0:
accel();
break;
case 1:
aalign();
break;
case 2:
afcont();
break;
case 3:
aflim();
break;
case 4:
afocus();
break;
case 5:
afset();
break;
case 6:
afmove();
break;
case 7:
ahome();
break;
case 8:
aij();
break;
case 9:
array();
break;
case 10:
azero();
break;
case 11:
backlash();
break;
case 12:
bcustom();
break;
case 13:
benable();
break;
case 14:
build();
break;
case 15:
cdate();
break;
case 16:
cnts();
break;
case 17:
customa();
break;
case 18:
customb();
break;
case 19:
dack();
break;
case 20:
dump();
break;
case 21:
ensync();
break;
case 22:
epolarity();
break;
case 23:
error();
break;
case 24:
halt();
break;
case 25:
here();
break;
case 26:
home();
break;
case 27:
info();
break;
case 28:
joystick();
break;
case 29:
jsspd();
break;
case 30:
kadc();
break;
case 31:
kd();
break;
case 32:
ki();
break;
case 33:
kp();
break;
case 34:
lcd();
break;
case 35:
led();
break;
case 36:
lladdr();
break;
case 37:
load();
break;
case 38:
lock();
break;
case 39:
lockrg();
break;
case 40:
lockset();
break;
case 41:
maintain();
break;
case 42:
motctrl();
break;
case 43:
move();
break;
case 44:
movrel();
break;
case 45:
pcros();
break;
case 46:
pedal();
break;
case 47:
rbmode();
break;
case 48:
rdadc();
break;
case 49:
rdsbyte();
break;
case 50:
rdstat();
break;
case 51:
relock();
break;
case 52:
reset();
break;
case 53:
rt();
break;
case 54:
runaway();
break;
case 55:
saveset();
break;
case 56:
savepos();
break;
case 57:
scan();
break;
case 58:
scanr();
break;
case 59:
scanv();
break;
case 60:
secure();
break;
case 61:
sethome();
break;
case 62:
setlow();
break;
case 63:
setup();
break;
case 64:
si();
break;
case 65:
speed();
break;
case 66:
spin();
break;
case 67:
status();
break;
case 68:
stopbits();
break;
case 69:
ttl();
break;
case 70:
um();
break;
case 71:
units();
break;
case 72:
unlock();
break;
case 73:
vb();
break;
case 74:
vector();
break;
case 75:
version();
break;
case 76:
wait();
break;
case 77:
where();
break;
case 78:
who();
break;
case 79:
wrdac();
break;
case 80:
zero();
break;
case 81:
z2b();
break;
case 82:
zs();
break;
case 83:
overshoot();
break;
}
}
