package org.openpnp.util;
import org.openpnp.model.Location;
import org.openpnp.spi.Head;
import org.openpnp.spi.HeadMountable;
public class MovableUtils {
/**
* Moves the given HeadMountable to the specified Location by first
* commanding the head to safe-Z all of it's components, then moving
* the HeadMountable in X, Y and C, followed by moving in Z.
* @param hm
* @param location
* @param speed
* @throws Exception
*/
public static void moveToLocationAtSafeZ(HeadMountable hm, Location location, double speed) throws Exception {
Head head = hm.getHead();
head.moveToSafeZ(speed);
hm.moveTo(location.derive(null, null, Double.NaN, null), speed);
hm.moveTo(location, speed);
}
}