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[WIP] uniax: removed do_ prefix

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Change-Id: I98d56a8ece681515de8f05767c67686715212c09
This commit is contained in:
zolliker 2022-09-16 14:57:58 +02:00
parent a8f1495bc8
commit 486be9604e
1 changed files with 15 additions and 15 deletions
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30
secop_psi/uniax.py
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@ -150,7 +150,7 @@ class Uniax(PersistentMixin, Drivable):
setattr(self, name, pos) setattr(self, name, pos)
return pos return pos
def do_find(self, state): def find(self, state):
"""find active (engaged) range""" """find active (engaged) range"""
if state.init: if state.init:
state.prev_direction = 0 # find not yet started state.prev_direction = 0 # find not yet started
@ -160,13 +160,13 @@ class Uniax(PersistentMixin, Drivable):
self.log.info('motor stopped - substantial force detected: %g', self.value) self.log.info('motor stopped - substantial force detected: %g', self.value)
self.motor.stop() self.motor.stop()
elif state.prev_direction == 0: elif state.prev_direction == 0:
return self.do_adjust return self.adjust
if abs(self.value) > self.hysteresis: if abs(self.value) > self.hysteresis:
self.set_zero_pos(self.value, self.motor.read_value()) self.set_zero_pos(self.value, self.motor.read_value())
return self.do_adjust return self.adjust
if self.value * direction < -self.hysteresis: if self.value * direction < -self.hysteresis:
state.force_before_free = self.value state.force_before_free = self.value
return self.do_free return self.free
if self.motor_busy(): if self.motor_busy():
if direction == -state.prev_direction: # target direction changed if direction == -state.prev_direction: # target direction changed
self.motor.stop() self.motor.stop()
@ -192,7 +192,7 @@ class Uniax(PersistentMixin, Drivable):
self.drive_relative(zero_pos - self.motor.value) self.drive_relative(zero_pos - self.motor.value)
return Retry() return Retry()
# we are already at or beyond zero_pos # we are already at or beyond zero_pos
return self.do_adjust return self.adjust
self.write_adjusting(False) self.write_adjusting(False)
self.status = 'BUSY', 'find %s side' % side_name self.status = 'BUSY', 'find %s side' % side_name
self.log.info('one turn to %g', self.motor.value + direction * 360) self.log.info('one turn to %g', self.motor.value + direction * 360)
@ -215,7 +215,7 @@ class Uniax(PersistentMixin, Drivable):
self.motor.stop() self.motor.stop()
self.write_adjusting(False) self.write_adjusting(False)
def do_free(self, state): def free(self, state):
"""free from high force at other end""" """free from high force at other end"""
if state.init: if state.init:
state.free_way = None state.free_way = None
@ -227,7 +227,7 @@ class Uniax(PersistentMixin, Drivable):
self.log.error(self.status[1]) self.log.error(self.status[1])
return None return None
if abs(self.value) < self.hysteresis: if abs(self.value) < self.hysteresis:
return self.do_find return self.find
if state.free_way is None: if state.free_way is None:
state.free_way = 0 state.free_way = 0
self.log.info('free from high force %g', self.value) self.log.info('free from high force %g', self.value)
@ -242,15 +242,15 @@ class Uniax(PersistentMixin, Drivable):
self.drive_relative(direction * self.safe_step) self.drive_relative(direction * self.safe_step)
return Retry() return Retry()
def do_within_tolerance(self, state): def within_tolerance(self, state):
"""within tolerance""" """within tolerance"""
if self.motor_busy(): if self.motor_busy():
return Retry() return Retry()
if abs(self.target - self.value) > self.tolerance: if abs(self.target - self.value) > self.tolerance:
return self.do_adjust return self.adjust
self.status = 'IDLE', 'within tolerance' self.status = 'IDLE', 'within tolerance'
def do_adjust(self, state): def adjust(self, state):
"""adjust force""" """adjust force"""
if state.init: if state.init:
state.prev_force = None state.prev_force = None
@ -259,7 +259,7 @@ class Uniax(PersistentMixin, Drivable):
if abs(self.target - self.value) < self.tolerance: if abs(self.target - self.value) < self.tolerance:
self._in_cnt += 1 self._in_cnt += 1
if self._in_cnt >= 3: if self._in_cnt >= 3:
return self.do_within_tolerance return self.within_tolerance
else: else:
self._in_cnt = 0 self._in_cnt = 0
if state.prev_force is None: if state.prev_force is None:
@ -279,7 +279,7 @@ class Uniax(PersistentMixin, Drivable):
if motor_dif > self.motor_play: if motor_dif > self.motor_play:
self.log.warning('adjusting failed - try to find zero pos') self.log.warning('adjusting failed - try to find zero pos')
self.set_zero_pos(self.target, None) self.set_zero_pos(self.target, None)
return self.do_find return self.find
elif motor_dif > self.motor_max_play: elif motor_dif > self.motor_max_play:
raise Error('force seems not to change substantially') raise Error('force seems not to change substantially')
force_step = (self.target - self.value) * self.pid_i force_step = (self.target - self.value) * self.pid_i
@ -326,16 +326,16 @@ class Uniax(PersistentMixin, Drivable):
if abs(target - self.value) <= self.tolerance: if abs(target - self.value) <= self.tolerance:
if not self.isBusy(): if not self.isBusy():
self.status = 'IDLE', 'already at target' self.status = 'IDLE', 'already at target'
self._state.start(self.do_within_tolerance) self._state.start(self.within_tolerance)
return target return target
self.log.info('new target %g', target) self.log.info('new target %g', target)
self._cnt_rderr = 0 self._cnt_rderr = 0
self._cnt_wrerr = 0 self._cnt_wrerr = 0
self.status = 'BUSY', 'changed target' self.status = 'BUSY', 'changed target'
if self.value * math.copysign(1, target) > self.hysteresis: if self.value * math.copysign(1, target) > self.hysteresis:
self._state.start(self.do_adjust) self._state.start(self.adjust)
else: else:
self._state.start(self.do_find) self._state.start(self.find)
return target return target
@Command() @Command()