frappy_psi.electromagnet: further improvements

cfg/emagnet_cfg.py

@@ -19,6 +19,7 @@ Mod('mot',
     value=Param(unit='mm'),
     check_limit_switches=True,
     encoder_mode='CHECK',
+    encoder_type='absolute',
     target_min = 10,
     target_max = 210,
 )

frappy_psi/electromagnet.py

@@ -261,8 +261,9 @@ class SampleHolder(Drivable):
 
     motor = Attached()
 
-    target = Parameter('target sample holder position', datatype=IntRange(0,6), readonly=False)
-    value = Parameter('sample holder position', datatype=IntRange(0,6))
+    target = Parameter('target sample holder position', datatype=IntRange(0,9), readonly=False)
+    value = Parameter('sample holder position', datatype=IntRange(0,9))
+    target_max = Parameter('highest sample holder number', datatype=IntRange(0,9), default=6, readonly=False)
     pos_offset = Parameter('position of first sample holder [mm]', datatype=FloatRange(unit='mm'), default=43)
     pos_diff = Parameter('distance between two sample positions [mm]', datatype=FloatRange(unit='mm'), default=50)
     tolerance = Parameter('position tolerance', datatype=FloatRange(unit='mm'), default=1)
@@ -271,7 +272,7 @@ class SampleHolder(Drivable):
 
     def read_value(self):
         if not self.motor.isBusy():
-            val = self.motor.read_value()
+            val = self.motor.value
             self._pos = (val - self.pos_offset) / self.pos_diff    # convert mm to sample position
             return round(self._pos)
         return self.value
@@ -281,10 +282,12 @@ class SampleHolder(Drivable):
         val = self.pos_offset + target * self.pos_diff
         self.motor.write_target(val)
         self.read_status()
+        self.setFastPoll(True)
 
     def read_status(self):
         if self.motor.isBusy():
             return BUSY, ('stopping motor' if self._stopflag else 'motor is running')
+        self.setFastPoll(False)
         if abs(self._pos - self.value) > abs(self.tolerance / self.pos_diff):
             if self._stopflag:
                 return ERROR, 'stopped at intermediate position'
@@ -294,4 +297,4 @@ class SampleHolder(Drivable):
     def stop(self):
         self.motor.stop()
         self._stopflag = True
-        self.status = BUSY, 'stopping'
+        self.status = BUSY, 'stopping motor'