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fixes for uniax device

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This commit is contained in:
zolliker
2021-06-11 16:45:45 +02:00
parent 6c4bb78f97
commit b30bd308a9
11 changed files with 456 additions and 33 deletions
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27
secop_psi/trinamic.py
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@ -97,7 +97,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
FloatRange(0, 360., unit='$'),
212, ANGLE_SCALE, readonly=False, group='more')
speed = HwParam('max. speed', FloatRange(0, MAX_SPEED, unit='$/sec'),
4, SPEED_SCALE, readonly=False, group='more')
4, SPEED_SCALE, readonly=False, group='motorparam')
minspeed = HwParam('min. speed', FloatRange(0, MAX_SPEED, unit='$/sec'),
130, SPEED_SCALE, readonly=False, default=SPEED_SCALE, group='motorparam')
currentspeed = HwParam('current speed', FloatRange(-MAX_SPEED, MAX_SPEED, unit='$/sec'),
@ -221,7 +221,6 @@ class Motor(PersistentMixin, HasIodev, Drivable):
initialized = self.comm(GET_GLOB_PAR, 255, bank=2)
if initialized: # no power loss
self.saveParameters()
print('SAVED', self.persistentData)
else: # just powered up
# get persistent values
writeDict = self.loadParameters()
@ -403,18 +402,18 @@ class Motor(PersistentMixin, HasIodev, Drivable):
self.status = self.Status.IDLE, 'stopped'
self._started = 0
@Command()
def step(self):
self.comm(MOVE, 1, FULL_STEP / ANGLE_SCALE)
#@Command()
#def step(self):
# self.comm(MOVE, 1, FULL_STEP / ANGLE_SCALE)
@Command()
def back(self):
self.comm(MOVE, 1, - FULL_STEP / ANGLE_SCALE)
#@Command()
#def back(self):
# self.comm(MOVE, 1, - FULL_STEP / ANGLE_SCALE)
@Command(IntRange(), result=IntRange())
def get_axis_par(self, adr):
return self.comm(GET_AXIS_PAR, adr)
#@Command(IntRange(), result=IntRange())
#def get_axis_par(self, adr):
# return self.comm(GET_AXIS_PAR, adr)
@Command((IntRange(), FloatRange()), result=IntRange())
def set_axis_par(self, adr, value):
return self.comm(SET_AXIS_PAR, adr, value)
#@Command((IntRange(), FloatRange()), result=IntRange())
#def set_axis_par(self, adr, value):
# return self.comm(SET_AXIS_PAR, adr, value)