Remove unnecessary trig zero at end of configure

dls-controls · Dec 9, 2016 · f733faa · f733faa
1 parent 1f68701
commit f733faa
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/malcolm/parts/pmac/pmactrajectorypart.py b/malcolm/parts/pmac/pmactrajectorypart.py
@@ -235,7 +235,7 @@ def move_to_start(self, task, start_index):
             time_array = [acceleration_time, move_time - 2 * acceleration_time,
                           acceleration_time]
             velocity_mode = [CURRENT_TO_NEXT, PREV_TO_CURRENT, ZERO_VELOCITY]
-            user_programs = [NO_PROGRAM, NO_PROGRAM, TRIG_ZERO]
+            user_programs = [NO_PROGRAM, NO_PROGRAM, NO_PROGRAM]
             for axis_name, positions in trajectory.items():
                 motor_info = self.axis_mapping[axis_name]
                 start_pos = positions[0]
@@ -247,7 +247,7 @@ def move_to_start(self, task, start_index):
         else:
             time_array = [move_time]
             velocity_mode = [ZERO_VELOCITY]
-            user_programs = [TRIG_ZERO]
+            user_programs = [NO_PROGRAM]
 
         self.write_profile_points(task, time_array, velocity_mode, trajectory,
                                   user_programs)

diff --git a/tests/test_parts/test_pmac/test_pmactrajectorypart.py b/tests/test_parts/test_pmac/test_pmactrajectorypart.py
@@ -109,7 +109,7 @@ def test_configure(self):
         self.assertEqual(task.put_many.call_args_list[1][0][1], dict(
             timeArray=[100000, 537500, 100000],
             velocityMode=[2, 1, 3],
-            userPrograms=[0, 0, 8],
+            userPrograms=[0, 0, 0],
             pointsToBuild=3,
             positionsA=[0.45, -0.08750000000000002, -0.1375],
             positionsB=[0.0, 0.0, 0.0]))
@@ -149,7 +149,7 @@ def test_2_axis_move_to_start(self):
         self.assertEqual(task.put_many.call_args_list[1][0][1], dict(
             timeArray=[100000, 100000, 100000],
             velocityMode=[2, 1, 3],
-            userPrograms=[0, 0, 8],
+            userPrograms=[0, 0, 0],
             pointsToBuild=3,
             positionsA=[-0.034374999999999996, -0.10312500000000002, -0.1375],
             positionsB=[0.15000000000000002, 0.049999999999999996, 0.0]))
@@ -221,7 +221,7 @@ def test_long_move(self):
             velocityMode=[
                 2, 0, 0, 1, 3],
             userPrograms=[
-                0, 0, 0, 0, 8],
+                0, 0, 0, 0, 0],
             pointsToBuild=5,
             positionsA=[
                 -10.087499999999999, -6.7875, -3.4875, -0.1875, -0.1375],