/*
* Requests movement to new z postion from the controller. This function does the actual communication
*/
int RAMPSZStage::SetPositionSteps(long steps)
{
RAMPSHub* pHub = static_cast<RAMPSHub*>(GetParentHub());
if (pHub->Busy()) {
return ERR_STAGE_MOVING;
}
posZ_um_ = steps * stepSize_um_;
char buff[100];
sprintf(buff, "G0 Z%f", posZ_um_/1000.);
std::string buffAsStdStr = buff;
int ret = pHub->SendCommand(buffAsStdStr);
if (ret != DEVICE_OK)
return ret;
std::string answer;
ret = pHub->ReadResponse(answer, 1000);
if (ret != DEVICE_OK) {
LogMessage("Error sending Z move.");
return ret;
}
if (answer != "ok") {
LogMessage("Failed to get ok response to Z move.");
}
ret = OnStagePositionChanged(posZ_um_);
if (ret != DEVICE_OK)
return ret;
return DEVICE_OK;
}
bool RAMPSZStage::Busy()
{
RAMPSHub* pHub = static_cast<RAMPSHub*>(GetParentHub());
return pHub->Busy();
}
