Handle the non-AbsoluteEncoder motor

site_ansto/instrument/TEST_SICS/fakeGalil/galilmotor.py

@@ -89,11 +89,20 @@ class GalilMotor(object):
 
     def getPosition(self):
         '''Calculate the unit position'''
-        value = self.unitsHome + self.currentSteps / self.stepsPerX
-        value = self.getEncoder() - self.absEncHome
-        value /= self.cntsPerX
-        value += self.unitsHome
-        return value
+        if self.hasAbsEnc and self.cntsPerX != 0:
+            # absolute encoder case
+            value = self.getEncoder() - self.absEncHome
+            value /= self.cntsPerX
+            value += self.unitsHome
+            return value
+        elif self.stepsPerX != 0:
+            # handle non-AbsEncoder case
+            value =  self.currentSteps - self.motorHome
+            value /= self.stepsPerX
+            return value
+        else:
+            # not-configured case
+            return -123.456
 
     def doIteration(self, now):
         '''If moving then update speed and position using