From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Fri, 30 Nov 2018 21:43:02 +0000 (-0800)
Subject: Keep units state between runs
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=444417b6ef4877f477a0c07931be77dfadfc6241;p=bbctrl-firmware

Keep units state between runs
---

diff --git a/src/py/bbctrl/Planner.py b/src/py/bbctrl/Planner.py
index fb86186..65b8417 100644
--- a/src/py/bbctrl/Planner.py
+++ b/src/py/bbctrl/Planner.py
@@ -65,7 +65,8 @@ class Planner():
         config = self.ctrl.config
 
         cfg = {
-            'default-units': state.get('units', 'METRIC'),
+            # NOTE Must get current units not configured default units
+            'default-units': 'METRIC' if state.get('metric') else 'IMPERIAL',
             'max-vel':   state.get_axis_vector('vm', 1000),
             'max-accel': state.get_axis_vector('am', 1000000),
             'max-jerk':  state.get_axis_vector('jm', 1000000),
diff --git a/src/py/bbctrl/State.py b/src/py/bbctrl/State.py
index 0715589..b8fb7dd 100644
--- a/src/py/bbctrl/State.py
+++ b/src/py/bbctrl/State.py
@@ -78,8 +78,7 @@ class State(object):
         self.reset()
 
 
-    def is_metric(self):
-        return self.ctrl.config.get('units', 'METRIC') == 'METRIC'
+    def is_metric(self): return self.get('units', 'METRIC') == 'METRIC'
 
 
     def reset(self):