Undulators steps_position_precision

id26/controllers/id26undulators.py

@@ -66,23 +66,25 @@ class ID26_Undulator(ESRF_Undulator):
 
 
     def start_one(self, motion, t0=None):
-        if motion.target_pos != pytest.approx(motion.axis.position, abs=motion.axis.tolerance):
-            self._set_attribute(
-                motion.axis,
-                "attr_pos_name",
-                float(motion.target_pos / motion.axis.steps_per_unit),
-            )
-        else:
-            log_warning(self, 
-                        "{0} within tolerance {1}: {2} (requested new pos id: {3})".format(
-                            motion.axis.name,
-                            motion.axis.tolerance,
-                            motion.axis.position,
-                            motion.target_pos,
-                            )
-            )
-            
-        log_debug(self, f"end of start {motion.axis.name}")
+        log_warning(self, f"{motion.axis.name}: moving from {motion.axis.position} to {motion.target_pos}")
+        return super().start_one(motion)
+        #if motion.target_pos != pytest.approx(motion.axis.position, abs=motion.axis.tolerance):
+        #    self._set_attribute(
+        #        motion.axis,
+        #        "attr_pos_name",
+        #        float(motion.target_pos / motion.axis.steps_per_unit),
+        #    )
+        #else:
+        #    log_warning(self, 
+        #                "{0} within tolerance {1}: {2} (requested new pos id: {3})".format(
+        #                    motion.axis.name,
+        #                    motion.axis.tolerance,
+        #                    motion.axis.position,
+        #                    motion.target_pos,
+        #                    )
+        #    )
+        #    
+        #log_debug(self, f"end of start {motion.axis.name}")
 
     @_log_devfailed
     def _set_attribute(self, *args):
@@ -108,3 +110,6 @@ class ID26_Undulator(ESRF_Undulator):
     def stop_all(self, *motion_list):
         return ESRF_Undulator.stop_all(self, *motion_list)
 
+    def steps_position_precision(self, axis):
+        return 0.02
+