Round position on write, prevent false returning not busy (#5)

* Round position on write, prevent false returning not busy * changelog --------- Co-authored-by: Blaise Thompson <[email protected]>
yaq-project · Sep 15, 2023 · ecf4be2 · ecf4be2
1 parent bd958e1
commit ecf4be2
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/).
 
 ## [Unreleased]
 
+### Fixed
+- round position on write
+- prevent case where busy would always be false
+
 ## [2022.5.0]
 
 ### Fixed

diff --git a/yaqd_acton/_acton_2150i.py b/yaqd_acton/_acton_2150i.py
@@ -31,7 +31,7 @@ def direct_serial_write(self, message):
 
     def _set_position(self, position):
         self._busy = True
-        self.ser.write(f"{position} GOTO\r".encode())
+        self.ser.write(f"{round(position, 1)} GOTO\r".encode())
 
     def set_turret(self, identifier):
         self._busy = True
@@ -57,7 +57,10 @@ async def update_state(self):
                 await asyncio.sleep(1)
                 continue
             # assess busy state
-            if math.isclose(now, self._state["position"]):
+            if abs(now - self._state["destination"]) > 0.2:
+                self._busy = True
+                self._state["position"] = now
+            elif math.isclose(now, self._state["position"]):
                 self._busy = False
                 await self._busy_sig.wait()
             else: