Fixed error in sph2cart function for gamma > 180

script/devices/RobotBernina.py

@@ -25,7 +25,6 @@ simulation = False
 class RobotBernina(RobotTCP):    
     def __init__(self, name, server, timeout = 1000, retries = 1):
         RobotTCP.__init__(self, name, server, timeout, retries)
-        self.invert_detector_rz = AdjustableFS(name = "invert_detector_rz", default_value=False)
         self.set_tasks(TASKS)
         self.set_known_points(KNOWN_POINTS)
         self.setPolling(DEFAULT_ROBOT_POLLING)          
@@ -43,10 +42,7 @@ class RobotBernina(RobotTCP):
         self.remote_allowed_deltas = AdjustableFS(name="remote_allowed_deltas", default_value = default_remote_allowed_deltas)
         
     def set_override_remote_safety(self, value):
-        self.override_remote_safety(bool(value))
-
-    def set_invert_detector_rz(self, value):
-        self.invert_detector_rz(bool(value))
+        self.override_remote_safety = bool(value)
 
     def reset_recorded_motions(self, index=None, motion=None):
         if any([index is None, motion is None]):
@@ -235,10 +231,8 @@ class RobotBernina(RobotTCP):
         
         #rz = -math.asin(-math.sin(-math.sin(gamma)*math.sin(-delta)*math.sqrt(1/(math.cos(-delta)**2+(math.sin(gamma)*math.sin(-delta))**2))))
         #rx, ry, rz = self.rad2deg([-delta,+gamma, rz])
-        if self.invert_detector_rz():
-            rz = rz+180
         if abs(rz//180) > 0:
-            rz = rz - (rz+180)/360*360
+            rz = rz - (rz+180)//360*360
 
 
         if return_dict:

script/devices/RobotTCP.py

@@ -771,7 +771,6 @@ class RobotTCP(TcpDevice, Stoppable):
             self.on_poll_status.update({
                 "connected": self.connected,
                 "powered": self.powered,
-                "invert_detector_rz": self.invert_detector_rz(),
                 "override_remote_safety": self.override_remote_safety,
                 "speed": self.speed,
                 "settled": self.settled,
@@ -928,7 +927,6 @@ class RobotTCP(TcpDevice, Stoppable):
             pos.update(self.joint_pos)
             pos.update(self.linear_axis_pos)
             self.on_poll_status = {
-                "invert_detector_rz": self.invert_detector_rz(),
                 "connected": self.connected,
                 "powered": self.powered,
                 "speed": self.speed,
@@ -968,7 +966,6 @@ class RobotTCP(TcpDevice, Stoppable):
     def on_poll_info(self):
         on_poll_config_methods ={
             "powered": {"cmd":"robot.set_powered", "def_kwargs": ""},
-            "invert_detector_rz":  {"cmd":"robot.set_invert_detector_rz", "def_kwargs": ""},
             "override_remote_safety":  {"cmd":"robot.set_override_remote_safety", "def_kwargs": ""},
             "speed": {"cmd":"robot.set_monitor_speed", "def_kwargs": ""},
             "frame": {"cmd": "robot.set_frame", "def_kwargs": "change_default=True",},