From 1db14d18fcce49251939bcca3543b42914b391f8 Mon Sep 17 00:00:00 2001
From: sige <sige@sige.com>
Date: Wed, 6 Mar 2024 11:43:53 +0800
Subject: [PATCH] =?UTF-8?q?=E7=94=B5=E6=9C=BA=E5=A2=9E=E5=8A=A0=20move=20o?=
 =?UTF-8?q?ffset=20=E5=8F=82=E6=95=B0=E9=85=8D=E7=BD=AE?=
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---
 .../com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java
index f11bd9e..898ea59 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java
@@ -26,6 +26,8 @@ public class DiActMotor extends DiActuatorBase {
     protected Integer stepMotorIHold;
     // look zero edge pulse
     protected Integer stepMotorIRun;
+    // offset
+    protected Integer moveOffset = 0;
 
     @Override
     protected void onEnable() {
@@ -88,8 +90,15 @@ public class DiActMotor extends DiActuatorBase {
         this.waitForFinish();
     }
 
+    // set move offset
+    public void setMoveOffset( String name ) {
+        this.moveOffset = this.getLocationValue(name);
+        this.log("setMoveOffset #{}={}", name, this.moveOffset);
+    }
+
     // move to position
     public void moveTo( Integer pos ) {
+        pos += this.moveOffset;
         this.log("moveTo {}", pos);
         this.call(DiCommand.MOTOR_EASY_MOVE_TO, pos);
         this.waitForFinish();
@@ -99,6 +108,7 @@ public class DiActMotor extends DiActuatorBase {
     public void moveTo( String key, Object ... args ) {
         Integer pos = this.getLocationValue(key, args);
         this.log("moveTo #{}={}", key, pos);
+        pos += this.moveOffset;
         this.call(DiCommand.MOTOR_EASY_MOVE_TO, pos);
         this.waitForFinish();
     }