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first tries with uniax stick

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Change-Id: I70da38aff091f7fc64f409485db335cde07163c9
This commit is contained in:
zolliker 2021-04-30 17:28:05 +02:00
parent 7ff88cf819
commit 3687ed85e5
2 changed files with 11 additions and 9 deletions
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1
cfg/trinamic.cfg
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@ -23,4 +23,3 @@ speed=40
encoder_tolerance=3.6 encoder_tolerance=3.6
free_wheeling=0.1 free_wheeling=0.1
power_down_delay=0.1 power_down_delay=0.1
# pull_up=1

19
secop_psi/trinamic.py
View File

@ -127,9 +127,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
fast_pollfactor = 0.001 # poll as fast as possible when busy fast_pollfactor = 0.001 # poll as fast as possible when busy
_started = 0 _started = 0
_calcTimeout = True _calcTimeout = True
_need_reset = False _need_reset = None
_save_filename = None
# _try_count = 0
def comm(self, cmd, adr, value=0, bank=0): def comm(self, cmd, adr, value=0, bank=0):
"""set or get a parameter """set or get a parameter
@ -229,13 +227,18 @@ class Motor(PersistentMixin, HasIodev, Drivable):
writeDict = self.loadParameters() writeDict = self.loadParameters()
self.log.info('set to previous saved values %r', writeDict) self.log.info('set to previous saved values %r', writeDict)
# self.encoder now contains the last known (persistent) value # self.encoder now contains the last known (persistent) value
self.fix_encoder(encoder) if self._need_reset is None:
if self.status[0] == self.Status.IDLE:
# server started, power cycled and encoder value matches last one
self.reset()
else:
self.fix_encoder(encoder)
self._need_reset = True
self.status = self.Status.ERROR, 'power loss'
# or should we just fix instead of error status?
# self.set('steppos', self.steppos - self.zero, check=False)
self.comm(SET_GLOB_PAR, 255, 1, bank=2) # set initialized flag self.comm(SET_GLOB_PAR, 255, 1, bank=2) # set initialized flag
self._started = 0 self._started = 0
self._need_reset = True
self.status = self.Status.ERROR, 'power loss'
# or should we just fix instead of error status?
# self.set('steppos', self.steppos - self.zero, check=False)
return encoder if abs(encoder - steppos) > self.tolerance else steppos return encoder if abs(encoder - steppos) > self.tolerance else steppos