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frappy_psi.phytron: implement limit switches

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This commit is contained in:
zolliker 2023-10-02 16:58:09 +02:00
parent 06bec41ed3
commit 03c356590b
1 changed files with 7 additions and 5 deletions
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12
frappy_psi/phytron.py
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@ -20,15 +20,12 @@
# #
# ***************************************************************************** # *****************************************************************************
"""driver for phytron motors """driver for phytron motors """
limits switches are not yet implemented
"""
import time import time
from frappy.core import Done, Command, EnumType, FloatRange, IntRange, \ from frappy.core import Done, Command, EnumType, FloatRange, IntRange, \
HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, \ HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, \
StringIO, StringType, IDLE, BUSY, ERROR, Limit StringIO, StringType, IDLE, BUSY, ERROR, Limit, BoolType
from frappy.errors import CommunicationFailedError, HardwareError from frappy.errors import CommunicationFailedError, HardwareError
from frappy.features import HasOffset from frappy.features import HasOffset
from frappy.states import HasStates, status_code, Retry from frappy.states import HasStates, status_code, Retry
@ -66,6 +63,8 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2), encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2),
default=1, readonly=False) default=1, readonly=False)
check_limit_switches = Parameter('whethter limit switches are checked',BoolType(),
default=0, readonly=False)
value = PersistentParam('angle', FloatRange(unit='deg')) value = PersistentParam('angle', FloatRange(unit='deg'))
status = PersistentParam() status = PersistentParam()
target = Parameter('target angle', FloatRange(unit='deg'), readonly=False) target = Parameter('target angle', FloatRange(unit='deg'), readonly=False)
@ -186,11 +185,14 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
self.hw_stop() self.hw_stop()
def read_status(self): def read_status(self):
hexstatus = 0x100
for _ in range(3): for _ in range(3):
sysstatus = self.communicate(f'{self.address:x}SE') sysstatus = self.communicate(f'{self.address:x}SE')
try: try:
sysstatus = sysstatus[1:4] if self.axis == 'X' else sysstatus[5:8] sysstatus = sysstatus[1:4] if self.axis == 'X' else sysstatus[5:8]
hexstatus = int(sysstatus, base=16) hexstatus = int(sysstatus, base=16)
if not self.check_limit_switches:
hexstatus &= 0xfcf # ignore limit switch bits
status_items = formatStatusBits(hexstatus & 0xf7, self.status_bits) status_items = formatStatusBits(hexstatus & 0xf7, self.status_bits)
if status_items: if status_items:
status = ERROR, ', '.join(status_items) status = ERROR, ', '.join(status_items)