57 lines
1.7 KiB
Python
57 lines
1.7 KiB
Python
def speed_fields_valid(motor):
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"""
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Check if the motor speed fields are valid:
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VMAX >= VELO >= VBAS
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"""
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vbas = motor.get_pv('basespeed')
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velo = motor.get_pv('speed')
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vmax = motor.get_pv('maxspeed')
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assert vmax >= velo >= vbas
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assert vbas >= 0
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assert velo >= 0
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assert vmax >= 0
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# If the motor is not a speed variable drive, VMAX == VELO == VBAS should hold true
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if motor.get_pv('can_set_speed') == 0:
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assert vmax == velo == vbas
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def set_speed(motor, new_speed):
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old_speed = motor.get_pv('speed')
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try:
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motor.put_pv('speed', new_speed)
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if motor.get_pv('can_set_speed') != 0:
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if new_speed > motor.get_pv('maxspeed'):
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assert motor.get_pv('speed') == motor.get_pv('maxspeed')
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elif new_speed < motor.get_pv('basespeed'):
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assert motor.get_pv('speed') == motor.get_pv('basespeed')
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else:
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assert motor.get_pv('speed') == new_speed
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else:
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assert motor.get_pv('speed') == old_speed
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finally:
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motor.put_pv('speed', old_speed)
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def set_minspeed_maxspeed_meanspeed(motor):
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set_speed(motor, motor.get_pv('maxspeed'))
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set_speed(motor, motor.get_pv('basespeed'))
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set_speed(motor, 0.5 * (motor.get_pv('basespeed') + motor.get_pv('maxspeed')))
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def set_invalid_speed_above_min_below_max(motor):
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set_speed(motor, motor.get_pv('maxspeed') + 1)
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set_speed(motor, motor.get_pv('basespeed') - 1)
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def set_speed_and_move(motor, new_speed, target):
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old_speed = motor.get_pv('speed')
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try:
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motor.put_pv('speed', new_speed)
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motor.move_and_wait(target)
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assert motor.at_target(target)
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finally:
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motor.put_pv('speed', old_speed)
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