27 lines
1015 B
Python
27 lines
1015 B
Python
import time
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import math
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def reread_limits_from_hw(motor):
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"""
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sinqMotor drivers usually read their limits from the hardware at each poll,
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hence any values manually written to DHLM or DLLM should be overwritten
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after the next poll at latest
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"""
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(high_limit, low_limit) = motor.limits()
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motor.write_field('dialhighlimit', high_limit+10)
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motor.write_field('diallowlimit', low_limit-10)
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# After two seconds, at least one poll has been done
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time.sleep(2)
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# Values should have been reread
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assert math.isclose(motor.read_field('highlimit'),
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high_limit, rel_tol=1e-9, abs_tol=0.001)
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assert math.isclose(motor.read_field('lowlimit'),
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low_limit, rel_tol=1e-9, abs_tol=0.001)
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assert math.isclose(motor.read_field('dialhighlimit'),
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high_limit, rel_tol=1e-9, abs_tol=0.001)
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assert math.isclose(motor.read_field('diallowlimit'),
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low_limit, rel_tol=1e-9, abs_tol=0.001)
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