check eneund.controller.approx before programming motion

id26/scripts/xas.py

@@ -587,15 +587,19 @@ class ID26StepXAS(ID26Measurement):
         # get a list of "tracked" undulators:
         undu_list = []
         motion = ()
+        
         for one_undu in setup_globals.get_available_undulators():
             print(one_undu.name)
             if (one_undu.name[0] == 'u' and one_undu.track() == True):
                 undu_list = undu_list+ [one_undu.name]
         # calculate desired gap openings for each "tracked" undulator and save into "xas_pos" Position Instance
         for undname in undu_list:
+            pos = setup_globals.name_to_obj(undname).position
             calc_position = ENEUND.controller.undu.energy2undulator(setup_globals.name_to_obj(undname),energy_target)
-            xas_pos.position(setup_globals.name_to_obj(undname),calc_position)
-            motion += (setup_globals.name_to_obj(undname), calc_position)
+            if abs(calc_position-pos) > ENEUND.controller.approx:
+              xas_pos.position(setup_globals.name_to_obj(undname),calc_position)
+              motion += (setup_globals.name_to_obj(undname), calc_position)
+              
         xas_pos.move(*motion)