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@@ -105,9 +105,9 @@ public class FestoXRServer {
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return "Controller not enabled";
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}
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Main.fhm.direktAuftrag(relPos, speed, 0, true, false);
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- Thread.sleep(10);
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+ Thread.sleep(20);
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Main.fhm.direktAuftrag(relPos, speed, 1, true, false);
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- Thread.sleep(10);
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+ Thread.sleep(20);
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while (true) {
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boolean reached = checkPos(targetPos);
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@@ -118,8 +118,8 @@ public class FestoXRServer {
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Thread.sleep(100);
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}
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} catch (ExecutionException | InterruptedException e) {
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- logger.warn("abs failed", e);
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- return "abs failed: " + e.toString();
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+ logger.warn("rel failed", e);
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+ return "rel failed: " + e.toString();
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}
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}
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@@ -144,6 +144,7 @@ public class FestoXRServer {
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paused=false;
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}
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if (paused==false&&(rs == 3 || rs == 4)) { //paused -> stop axis
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+ Thread.sleep(20);
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Main.fhm.direktAuftrag(targetPos, speed, 0, false, false);
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Thread.sleep(20);
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Main.fhm.direktAuftrag(targetPos, speed, 0, false, true);
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@@ -152,6 +153,7 @@ public class FestoXRServer {
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}
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else if (rs == 0 || rs == 1) { //stop -> abort
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+ Thread.sleep(20);
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Main.fhm.direktAuftrag(targetPos, speed, 0, false, false);
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Thread.sleep(20);
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Main.fhm.direktAuftrag(targetPos, speed, 0, false, true);
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@@ -170,6 +172,7 @@ public class FestoXRServer {
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private void restart(int targetPos, int speed) throws InterruptedException {
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Main.fhm.bereitschaft();
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+ Thread.sleep(20);
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Main.fhm.direktAuftrag(targetPos, speed, 0, false, false);
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Thread.sleep(20);
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Main.fhm.direktAuftrag(targetPos, speed, 1, false, false);
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