flowsas project as of 2025-04-14

frappy_psi/phytron.py

@@ -62,7 +62,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
 
     encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2),
                              default=1, readonly=False)
-    check_limit_switches = Parameter('whethter limit switches are checked',BoolType(),
+    check_limit_switches = Parameter('whether limit switches are checked',BoolType(),
                                      default=0, readonly=False)
     value = PersistentParam('angle', FloatRange(unit='deg'))
     status = PersistentParam()
@@ -90,6 +90,8 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
     status_bits = ['power stage error', 'undervoltage', 'overtemperature', 'active',
                    'lower switch active', 'upper switch active', 'step failure', 'encoder error']
 
+    _doing_reference = False
+
     def get(self, cmd):
         return self.communicate(f'{self.address:x}{self.axis}{cmd}')
 
@@ -178,10 +180,14 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
 
     def doPoll(self):
         super().doPoll()
-        if self._running and not self.isBusy():
+        if self._running and not self.isBusy() and not self._doing_reference:
             if time.time() > self._stopped_at + 5:
                 self.log.warning('stop motor not started by us')
                 self.hw_stop()
+        if self._doing_reference and self.get('=H') == 'E' :
+            self.status = IDLE, ''
+            self.target = 0
+            self._doing_reference = False
 
     def read_status(self):
         hexstatus = 0x100
@@ -207,6 +213,9 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
         if status[0] == ERROR:
             self._blocking_error = status[1]
             return status
+        if self._doing_reference and self.get('=H') == 'N':
+            status = BUSY, 'Doing reference run'
+            return status
         return super().read_status()  # status from state machine
 
     def check_moving(self):
@@ -346,3 +355,10 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
             self.status = 'IDLE', 'after error reset'
             self._blocking_error = None
             self.target = self.value  # clear error in target
+
+    @Command
+    def make_ref_run(self):
+        '''Do reference run'''
+        self._doing_reference = True
+        self.status = BUSY, 'Doing reference run'
+        self.communicate(f'{self.address:x}{self.axis}0-')