Removed unnecessary (whitespace) changes etc. Better comments.

src/main/java/org/openpnp/gui/components/CameraView.java

@@ -1334,7 +1334,7 @@ private void moveToClick(MouseEvent e) {
                 // Add the offsets to the Camera's nozzle calibrated position.
                 Location location = camera.getLocation(nozzle).add(offsets);
                 // Only change X/Y. 
-                location = nozzle.getLocation().derive(location, true,  true,  false, false);
+                location = nozzle.getLocation().derive(location, true, true, false, false);
                 MovableUtils.moveToLocationAtSafeZ(nozzle, location);
             }
             else {

src/main/java/org/openpnp/machine/reference/ReferenceDriver.java

@@ -36,7 +36,7 @@
  * This Driver interface is intended to talk to one controller with Axes and Actuators attached.
  * 
  * In OpenPnP, the Head does not move on it's own. It is moved by the moving of attached objects:
- * Nozzles, Cameras, Actuators, so-called HeadMountables. The HeadMountables specify with which axes 
+ * Nozzles, Cameras, Actuators, so-called HeadMountables. The HeadMountables specify by which axes 
  * they are moved. The axes are in turn assigned to the Driver. When you move a HeadMountable the 
  * MotionPlanner will determine which axes are involved and call the drivers accordingly. 
  * 
@@ -159,7 +159,7 @@ public default void createDefaults() throws Exception  {}
 
     /**
      * Migrates the driver for the new global axes implementation. Is marked a deprecated as it can be removed
-     * along with the old GcodeDriver Axes implementation, if migration of users is expected to be complete.  
+     * along with the old GcodeDriver Axes implementation, once migration of users is expected to be complete.  
      * 
      * @param machine
      * @throws Exception

src/main/java/org/openpnp/machine/reference/ReferenceHead.java

@@ -52,7 +52,7 @@ public void home() throws Exception {
         if (getVisualHomingMethod() != VisualHomingMethod.None) {
             /*
              * The head default camera should now be (if everything has homed correctly) directly
-             * above the homing pin in the machine bed, use the head camera scan for this and make sure
+             * above the homing fiducial on the machine bed, use the head camera scan for this and make sure
              * this is exactly central - otherwise we move the camera until it is, and then reset all
              * the axis back to the fiducial location as this is calibrated home.
              */
@@ -76,7 +76,7 @@ public void home() throws Exception {
                 axesHomingLocation = hm.toRaw(hm.toHeadLocation(getHomingFiducialLocation()));
             }
             else {
-                // Use bare X, Y homing coordinates.
+                // Use bare X, Y homing coordinates (legacy mode).
                 axesHomingLocation =  new AxesLocation(machine, 
                         (axis) -> (axis.getHomeCoordinate())); 
             }
@@ -145,7 +145,7 @@ public void moveTo(HeadMountable hm, Location location, double speed, MoveToOpti
         if (!mappedAxes.isEmpty()) {
             AxesLocation axesLocation = hm.toRaw(location);
             machine.getMotionPlanner().moveTo(hm, axesLocation, speed, options);
-            // For now just do it immediately. TODO: implement smart wait for completion.
+            // For now just do it immediately. TODO: wait only where necessary, e.g. in vision and (perhaps) vacuum sensing.
             machine.getMotionPlanner().waitForCompletion(hm, CompletionType.WaitForStillstand);
             machine.fireMachineHeadActivity(this);
         }

src/main/java/org/openpnp/machine/reference/ReferenceNozzle.java

@@ -18,8 +18,8 @@
 import org.openpnp.machine.reference.wizards.ReferenceNozzleCameraOffsetWizard;
 import org.openpnp.machine.reference.wizards.ReferenceNozzleCompatibleNozzleTipsWizard;
 import org.openpnp.machine.reference.wizards.ReferenceNozzleConfigurationWizard;
-import org.openpnp.machine.reference.wizards.ReferenceNozzleVacuumWizard;
 import org.openpnp.machine.reference.wizards.ReferenceNozzleToolChangerWizard;
+import org.openpnp.machine.reference.wizards.ReferenceNozzleVacuumWizard;
 import org.openpnp.model.Configuration;
 import org.openpnp.model.Length;
 import org.openpnp.model.LengthUnit;
@@ -30,11 +30,9 @@
 import org.openpnp.spi.Nozzle;
 import org.openpnp.spi.NozzleTip;
 import org.openpnp.spi.PropertySheetHolder;
-import org.openpnp.spi.Movable.MoveToOption;
 import org.openpnp.spi.base.AbstractNozzle;
 import org.openpnp.util.MovableUtils;
 import org.openpnp.util.SimpleGraph;
-import org.openpnp.util.Utils2D;
 import org.pmw.tinylog.Logger;
 import org.simpleframework.xml.Attribute;
 import org.simpleframework.xml.Element;

src/main/java/org/openpnp/machine/reference/ReferenceNozzleTipCalibration.java

@@ -768,6 +768,7 @@ public Location getCalibratedOffset(ReferenceNozzle nozzle, double angle) {
         }
 
         return this.getRunoutCompensation(nozzle).getOffset(angle);
+
     }
 
     /*

src/main/java/org/openpnp/machine/reference/camera/ImageCamera.java

@@ -58,7 +58,7 @@ public class ImageCamera extends ReferenceCamera implements Runnable {
     private PropertyChangeSupport pcs = new PropertyChangeSupport(this);
 
     @Attribute(required = false)
-    private int fps = 24;
+    private int fps = 30;
 
     @Element
     private String sourceUri = "classpath://samples/pnp-test/pnp-test.png";

src/main/java/org/openpnp/machine/reference/camera/SimulatedUpCamera.java

@@ -34,7 +34,7 @@ public class SimulatedUpCamera extends ReferenceCamera implements Runnable {
 
     protected int height = 1280;
 
-    protected int fps = 24;
+    protected int fps = 30;
 
     private Thread thread;
 

src/main/java/org/openpnp/machine/reference/driver/AbstractReferenceDriver.java

@@ -5,16 +5,12 @@
 import org.openpnp.gui.support.PropertySheetWizardAdapter;
 import org.openpnp.gui.support.Wizard;
 import org.openpnp.machine.reference.ReferenceDriver;
-import org.openpnp.machine.reference.ReferenceMachine;
 import org.openpnp.machine.reference.driver.SerialPortCommunications.DataBits;
 import org.openpnp.machine.reference.driver.SerialPortCommunications.FlowControl;
 import org.openpnp.machine.reference.driver.SerialPortCommunications.Parity;
 import org.openpnp.machine.reference.driver.SerialPortCommunications.StopBits;
 import org.openpnp.machine.reference.driver.wizards.AbstractReferenceDriverConfigurationWizard;
-import org.openpnp.model.Length;
-import org.openpnp.model.LengthUnit;
 import org.openpnp.spi.base.AbstractDriver;
-import org.openpnp.spi.base.AbstractMachine;
 import org.pmw.tinylog.Logger;
 import org.simpleframework.xml.Attribute;
 import org.simpleframework.xml.Element;

src/main/java/org/openpnp/machine/reference/driver/wizards/GcodeDriverSettings.java

@@ -46,7 +46,6 @@
 
 public class GcodeDriverSettings extends AbstractConfigurationWizard {
     private final GcodeDriver driver;
-    private JCheckBox backslashEscapedCharacters;
 
     public GcodeDriverSettings(GcodeDriver driver) {
         this.driver = driver;
@@ -288,9 +287,9 @@ public void actionPerformed(ActionEvent arg0) {
     private JTextField commandTimeoutTf;
     private JTextField connectWaitTimeTf;
     private JComboBox unitsCb;
-    private JCheckBox backslashEscapedChar;
     private JCheckBox supportingPreMove;
     private JCheckBox letterVariables;
+    private JCheckBox backslashEscapedCharacters;
 
     static class HeadMountableItem {
         private HeadMountable hm;

src/main/java/org/openpnp/machine/reference/vision/ReferenceFiducialLocator.java

@@ -149,8 +149,7 @@ public Location getLocation(Placement locatable) {
             expectedLocations.add(fiducial.getLocation().invert(boardSide==Side.Bottom, false, false, false));
             measuredLocations.add(measuredLocation);
 
-            Logger.debug("Found {} nominal {} at {}", fiducial.getId(),
-                    Utils2D.calculateBoardPlacementLocation(boardLocation, fiducial.getLocation()), measuredLocation);
+            Logger.debug("Found {} at {}", fiducial.getId(), measuredLocation);
         }
 
         // Calculate the transform.

src/main/java/org/openpnp/model/Configuration.java

@@ -544,7 +544,6 @@ public static Serializer createSerializer() {
         return serializer;
     }
 
-
     public static String createId(String prefix) {
         // NanosecondTime guarantees unique Ids, even if created in rapid succession such as in migration code.
         return prefix + NanosecondTime.get().toString(16);

src/main/java/org/openpnp/spi/HeadMountable.java

@@ -1,8 +1,6 @@
 package org.openpnp.spi;
 
-import org.openpnp.model.AxesLocation;
 import org.openpnp.model.Identifiable;
-import org.openpnp.model.LengthUnit;
 import org.openpnp.model.Location;
 import org.openpnp.model.Named;
 

src/main/java/org/openpnp/spi/MotionPlanner.java

@@ -39,7 +39,7 @@
  * <li>Accept a sequence of raw moveTo() commands.</li>
  * <li>Coordinate motion across multiple drivers.</li>
  * <li>For advanced MotionPlanners, perform optimization on the sequence. </li>
- * <li>As soon as the motion is commited ie. when waiting for completion, command the drivers to plan and execute the plan.</li>
+ * <li>As soon as the motion is commited i.e. when waiting for completion, command the drivers to plan and execute the plan.</li>
  * <li>Provide access to the planned motion over time for simulation, visualization etc. </li>
  * </ul>
  * <p>

src/main/java/org/openpnp/spi/base/AbstractHead.java

@@ -95,14 +95,8 @@ public AbstractHead() {
     @SuppressWarnings("unused")
     @Commit
     private void commit() {
-        for (Nozzle nozzle : nozzles) {
-            nozzle.setHead(this);
-        }
-        for (Camera camera : cameras) {
-            camera.setHead(this);
-        }
-        for (Actuator actuator : actuators) {
-            actuator.setHead(this);
+        for (HeadMountable hm : getHeadMountables()) {
+            hm.setHead(this);
         }
     }
 
@@ -202,15 +196,9 @@ public void removeNozzle(Nozzle nozzle) {
     @Override
     public List<HeadMountable> getHeadMountables() {
         List<HeadMountable> list = new ArrayList<>();
-        for (Nozzle nozzle : nozzles) {
-            list.add(nozzle);
-        }
-        for (Camera camera : cameras) {
-            list.add(camera);
-        }
-        for (Actuator actuator : actuators) {
-            list.add(actuator);
-        }
+        list.addAll(nozzles);
+        list.addAll(cameras);
+        list.addAll(actuators);
         return list;
     }
 

src/main/java/org/openpnp/vision/pipeline/stages/DetectFixedCirclesHough.java

@@ -89,8 +89,8 @@ public Result process(CvPipeline pipeline) throws Exception {
         Imgproc.HoughCircles(mat, output, Imgproc.CV_HOUGH_GRADIENT, dp,
                 minDistance,
                 param1, param2,
-                minDiameter / 2-2,
-                maxDiameter / 2+2);
+                minDiameter / 2,
+                maxDiameter / 2);
         List<Result.Circle> circles = new ArrayList<>();
         for (int i = 0; i < output.cols(); i++) {
             double[] circle = output.get(0, i);

src/test/java/BasicJobTest.java

@@ -58,6 +58,7 @@ public void testSimpleJob() throws Exception {
 
         Configuration.initialize(workingDirectory);
         Configuration.get().load();
+        // Save back migrated.
         Configuration.get().save();
 
         Machine machine = Configuration.get().getMachine();

src/test/java/ReferenceBottomVisionTest.java

@@ -36,6 +36,7 @@ public static void testError(Location error) throws Exception {
 
         Configuration.initialize(workingDirectory);
         Configuration.get().load();
+        // Save migrated.
         Configuration.get().save();
 
         Machine machine = Configuration.get().getMachine();

src/test/java/SampleJobTest.java

@@ -43,7 +43,7 @@ public void testSampleJob() throws Exception {
         ReferenceMachine machine = (ReferenceMachine) Configuration.get().getMachine();
 
         NullDriver driver = (NullDriver) machine.getDefaultDriver();
-        // Make it super-fast for the test.
+        // Make it super-fast for the test (now with axes).
         driver.setFeedRateMmPerMinute(0);
         for (Axis axis : machine.getAxes()) {
             if (axis instanceof ReferenceControllerAxis) {
@@ -56,7 +56,7 @@ public void testSampleJob() throws Exception {
         AbstractCamera camera = (AbstractCamera)machine.getDefaultHead().getDefaultCamera();
         camera.setSettleMethod(AbstractCamera.SettleMethod.FixedTime);
         camera.setSettleTimeMs(0);
-        
+
         // File videoFile = new File("target");
         // videoFile = new File(videoFile, "SampleJobTest.mp4");
         // MpegEncodingCameraListener encoder = new MpegEncodingCameraListener(videoFile);