Zeroing rotary encoder motor steps fix

site_ansto/instrument/TEST_SICS/fakeGalil/galilmotor.py

@@ -236,6 +236,8 @@ class GalilMotor(object):
             self.accel = max(1, abs(int(arg)))
         elif cmd == "DC":
             self.decel = max(1, abs(int(arg)))
+        elif cmd == "DP":
+            self.currentSteps = int(arg)
         else:
             print "Unknown assignment", cmd, arg
 

site_ansto/motor_dmc2280.c

@@ -2648,6 +2648,7 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
           cmdStatus(self);
           self->status_valid = false;
           self->subState = 4;
+          return;
         }
         else if (self->subState == 4) { /* Status after Zero */
           int iRet;
@@ -2660,6 +2661,7 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
           set_lastMotion(self, self->currSteps, self->currCounts);
           cmdOn(self);
           self->subState = 1;
+          return;
         }
       } while (0);
       break;