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fix: fixed drive_to_limit

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wakonig_k 2023-11-07 15:50:02 +01:00
parent 3eea89acc5
commit 1aae1eba12
1 changed files with 13 additions and 4 deletions
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17
ophyd_devices/galil/galil_ophyd.py
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@ -199,9 +199,9 @@ class GalilController(Controller):
axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric) axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
# check if we actually hit the limit # check if we actually hit the limit
if direction == "forward": if direction == "forward":
limit = self.get_motor_limit_switch(axis_Id)[0]
elif direction == "reverse":
limit = self.get_motor_limit_switch(axis_Id)[1] limit = self.get_motor_limit_switch(axis_Id)[1]
elif direction == "reverse":
limit = self.get_motor_limit_switch(axis_Id)[0]
if not limit: if not limit:
raise GalilError(f"Failed to drive axis {axis_Id}/{axis_Id_numeric} to limit.") raise GalilError(f"Failed to drive axis {axis_Id}/{axis_Id_numeric} to limit.")
@ -241,8 +241,17 @@ class GalilController(Controller):
return not bool(float(self.socket_put_and_receive(f"MG _MO{axis_Id}").strip())) return not bool(float(self.socket_put_and_receive(f"MG _MO{axis_Id}").strip()))
def get_motor_limit_switch(self, axis_Id) -> list: def get_motor_limit_switch(self, axis_Id) -> list:
ret = self.socket_put_and_receive(f"MG _LF{axis_Id}, _LR{axis_Id}") """
high, low = ret.strip().split(" ") Get the status of the motor limit switches.
Args:
axis_Id (str): Axis identifier (e.g. 'A', 'B', 'C', ...)
Returns:
list: List of two booleans indicating if the low and high limit switch is active, respectively.
"""
ret = self.socket_put_and_receive(f"MG _LR{axis_Id}, _LF{axis_Id}")
low, high = ret.strip().split(" ")
return [not bool(float(low)), not bool(float(high))] return [not bool(float(low)), not bool(float(high))]
def describe(self) -> None: def describe(self) -> None: