fixes for uniax device
This commit is contained in:
parent
6c4bb78f97
commit
b30bd308a9
17
cfg/ls240.cfg
Normal file
17
cfg/ls240.cfg
Normal file
@ -0,0 +1,17 @@
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[NODE]
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id = ls240.psi.ch
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description = ls240 test
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[INTERFACE]
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uri = tcp://5000
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[T]
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description = temperature on uniax stick
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class = secop_psi.ls240.Ls240
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iodev = T_iodev
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[T_iodev]
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class = secop.bytesio.BytesIO
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description = IO device for LS240
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uri = serial:///dev/ttyUSB0?baudrate=9600+parity=EVEN
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timeout = 0.2
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@ -8,25 +8,39 @@ uri = tcp://5000
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[drv_iodev]
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[drv_iodev]
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description =
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description =
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class = secop.bytesio.BytesIO
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class = secop.bytesio.BytesIO
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uri = serial:///dev/ttyUSB0?baudrate=57600
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# uri = serial:///dev/ttyUSB1?baudrate=57600
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# uri = serial:///dev/ttyUSB0?baudrate=9600
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uri = tcp://192.168.127.254:3002
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[drv]
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[drv]
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description = trinamic motor test
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description = trinamic motor test
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class = secop_psi.trinamic.Motor
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class = secop_psi.trinamic.Motor
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iodev = drv_iodev
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iodev = drv_iodev
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standby_current=0.1
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standby_current=0.1
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maxcurrent=1.4
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maxcurrent=0.2
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acceleration=50
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acceleration=150.
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maxspeed=200
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movelimit=360
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zero=-36
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speed=40
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enc_tolerance=3.6
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encoder_tolerance=3.6
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free_wheeling=0.001
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free_wheeling=0.1
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pull_up=1
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power_down_delay=0.1
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[force]
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[force]
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description = DPM driver to read out the transducer value, write and read the offset and scale factor
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description = DPM driver to read out the transducer value, write and read the offset and scale factor
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class = secop_psi.dpm.DPM3
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class = secop_psi.dpm.DPM3
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uri = serial:///dev/ttyUSB1?baudrate=9600
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#uri = serial:///dev/ttyUSB0?baudrate=9600
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uri = tcp://192.168.127.254:3001
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digits = 2
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digits = 2
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scale_factor = 0.0156
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scale_factor = 0.0156
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motor = drv
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[res]
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description = temperature on uniax stick
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class = secop_psi.ls340res.ResChannel
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uri = tcp://192.168.127.254:3003
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channel = C
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[T]
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class = secop_psi.softcal.Sensor
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rawsensor = res
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calib = /home/l_samenv/frappy/secop_psi/calcurves/X132254.340
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value.unit = K
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@ -37,4 +37,5 @@ from secop.poller import AUTO, DYNAMIC, REGULAR, SLOW
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from secop.properties import Property
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from secop.properties import Property
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from secop.proxy import Proxy, SecNode, proxy_class
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from secop.proxy import Proxy, SecNode, proxy_class
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from secop.stringio import HasIodev, StringIO
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from secop.stringio import HasIodev, StringIO
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from secop.bytesio import BytesIO
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from secop.persistent import PersistentMixin, PersistentParam
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from secop.persistent import PersistentMixin, PersistentParam
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@ -251,7 +251,9 @@ class AsynSerial(AsynConn):
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if not fullname.startswith(name):
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if not fullname.startswith(name):
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raise ConfigError('illegal parity: %s' % parity)
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raise ConfigError('illegal parity: %s' % parity)
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options['parity'] = name[0]
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options['parity'] = name[0]
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if 'timeout' not in options:
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if 'timeout' in options:
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options['timeout'] = float(self.timeout)
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else:
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options['timeout'] = self.timeout
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options['timeout'] = self.timeout
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try:
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try:
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self.connection = Serial(dev, **options)
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self.connection = Serial(dev, **options)
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@ -92,7 +92,7 @@ class PersistentMixin(HasAccessibles):
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try:
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try:
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with open(self.persistentFile, 'r') as f:
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with open(self.persistentFile, 'r') as f:
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self.persistentData = json.load(f)
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self.persistentData = json.load(f)
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except FileNotFoundError:
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except Exception:
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self.persistentData = {}
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self.persistentData = {}
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writeDict = {}
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writeDict = {}
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for pname in self.parameters:
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for pname in self.parameters:
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208
secop_psi/calcurves/X132254.340
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208
secop_psi/calcurves/X132254.340
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@ -0,0 +1,208 @@
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Sensor Model: CX-1050-SD 2018-11-20
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Serial Number: X132254
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Data Format: 4 (Log Ohms/Kelvin)
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SetPoint Limit: 330.0 (Kelvin)
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Temperature coefficient: 1 (Negative)
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Number of Breakpoints: 199
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No. Units Temperature (K)
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1 1.865581 330.0000
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2 1.889780 310.0000
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3 1.900613 301.5330
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4 1.911510 293.2973
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5 1.922466 285.2865
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6 1.933476 277.4945
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7 1.944536 269.9153
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8 1.955638 262.5431
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9 1.966779 255.3723
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10 1.977950 248.3974
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11 1.989148 241.6129
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12 2.000369 235.0138
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13 2.011610 228.5949
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14 2.022870 222.3513
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15 2.034145 216.2782
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16 2.045433 210.3710
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17 2.056730 204.6252
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18 2.068035 199.0363
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19 2.079343 193.6000
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20 2.090652 188.3123
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21 2.101960 183.1689
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22 2.113263 178.1660
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23 2.124559 173.2998
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24 2.135845 168.5665
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25 2.147117 163.9624
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26 2.158374 159.4842
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27 2.169612 155.1282
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28 2.180830 150.8912
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29 2.192023 146.7699
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30 2.203192 142.7612
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31 2.214333 138.8620
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32 2.225444 135.0693
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33 2.236525 131.3801
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34 2.247573 127.7918
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35 2.258586 124.3014
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36 2.269564 120.9064
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37 2.280509 117.6041
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38 2.291423 114.3920
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39 2.302308 111.2676
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40 2.313167 108.2285
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41 2.324003 105.2725
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42 2.334817 102.3972
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43 2.345609 99.60045
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44 2.356380 96.88007
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45 2.367129 94.23400
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46 2.377857 91.66019
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47 2.388562 89.15669
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48 2.399245 86.72156
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49 2.409907 84.35294
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50 2.420547 82.04902
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51 2.431166 79.80803
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52 2.441762 77.62824
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53 2.452338 75.50799
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54 2.462894 73.44565
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55 2.473431 71.43963
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56 2.483949 69.48841
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57 2.494449 67.59048
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58 2.504932 65.74439
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59 2.515397 63.94872
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60 2.525846 62.20210
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61 2.536278 60.50318
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62 2.546695 58.85066
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63 2.557096 57.24328
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64 2.567482 55.67980
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65 2.577854 54.15902
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66 2.588212 52.67978
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67 2.598555 51.24095
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68 2.608882 49.84141
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69 2.619195 48.48010
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70 2.629492 47.15596
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71 2.639773 45.86800
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72 2.650037 44.61521
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73 2.660285 43.39664
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74 2.670517 42.21135
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75 2.680731 41.05844
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76 2.690928 39.93701
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77 2.701107 38.84622
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78 2.711268 37.78522
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79 2.721411 36.75319
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80 2.731536 35.74936
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81 2.741644 34.77294
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82 2.751735 33.82319
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83 2.761808 32.89938
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84 2.771865 32.00080
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85 2.781907 31.12677
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86 2.791933 30.27661
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87 2.801945 29.44966
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88 2.811944 28.64531
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89 2.821930 27.86292
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90 2.831903 27.10191
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91 2.841865 26.36167
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92 2.851817 25.64166
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93 2.861758 24.94131
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94 2.871690 24.26009
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95 2.881614 23.59748
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96 2.891532 22.95297
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97 2.901446 22.32605
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98 2.911361 21.71626
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99 2.921277 21.12313
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100 2.931198 20.54620
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101 2.941127 19.98502
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102 2.951066 19.43917
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103 2.961018 18.90823
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104 2.970985 18.39179
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105 2.980970 17.88946
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106 2.990974 17.40085
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107 3.001002 16.92558
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108 3.011054 16.46329
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109 3.021133 16.01363
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110 3.031243 15.57626
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111 3.041384 15.15082
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112 3.051561 14.73701
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113 3.061776 14.33450
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114 3.072032 13.94298
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115 3.082331 13.56216
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116 3.092677 13.19174
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117 3.103073 12.83143
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118 3.113522 12.48097
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119 3.124027 12.14008
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120 3.134592 11.80850
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121 3.145221 11.48597
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122 3.155918 11.17226
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123 3.166687 10.86711
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124 3.177532 10.57030
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125 3.188458 10.28159
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126 3.199469 10.00077
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127 3.210570 9.727624
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128 3.221764 9.461935
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129 3.233053 9.203502
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130 3.244440 8.952128
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131 3.255927 8.707619
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132 3.267518 8.469789
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133 3.279216 8.238455
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134 3.291024 8.013439
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135 3.302945 7.794568
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136 3.314984 7.581676
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137 3.327143 7.374599
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138 3.339428 7.173177
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139 3.351843 6.977257
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140 3.364390 6.786688
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141 3.377076 6.601324
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142 3.389904 6.421023
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143 3.402879 6.245646
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144 3.416005 6.075059
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145 3.429288 5.909132
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146 3.442733 5.747736
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147 3.456347 5.590749
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148 3.470134 5.438050
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149 3.484101 5.289521
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150 3.498250 5.145049
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151 3.512586 5.004522
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152 3.527113 4.867834
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153 3.541835 4.734880
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154 3.556757 4.605557
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155 3.571882 4.479766
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156 3.587215 4.357410
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157 3.602759 4.238397
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158 3.618520 4.122634
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159 3.634504 4.010033
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160 3.650715 3.900507
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161 3.667161 3.793973
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162 3.683849 3.690349
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163 3.700786 3.589555
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164 3.717980 3.491514
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165 3.735437 3.396150
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166 3.753166 3.303392
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167 3.771176 3.213166
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168 3.789476 3.125406
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169 3.808071 3.040042
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170 3.826971 2.957009
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171 3.846182 2.876245
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172 3.865712 2.797686
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173 3.885567 2.721273
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174 3.905755 2.646948
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175 3.926284 2.574652
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176 3.947160 2.504331
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177 3.968390 2.435930
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178 3.989980 2.369398
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179 4.011939 2.304683
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180 4.034269 2.241735
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181 4.056978 2.180507
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182 4.080072 2.120951
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183 4.103563 2.063022
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184 4.127465 2.006675
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185 4.151790 1.951866
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186 4.176551 1.898555
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187 4.201764 1.846700
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188 4.227442 1.796262
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189 4.253600 1.747201
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190 4.280254 1.699479
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191 4.307419 1.653062
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192 4.335111 1.607912
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193 4.363347 1.563995
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194 4.392142 1.521278
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195 4.421513 1.479727
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196 4.451476 1.439312
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197 4.482048 1.400000
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198 4.664046 1.200000
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199 4.907708 1.000000
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@ -16,11 +16,13 @@
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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#
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# Module authors:
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# Module authors:
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# ...
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# M. Zolliker <markus.zolliker@psi.ch>
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#
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#
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# *****************************************************************************
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# *****************************************************************************
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"""transducer DPM3 read out"""
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from secop.core import Readable, Parameter, FloatRange, BoolType, StringIO, HasIodev, IntRange, Done
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from secop.core import Drivable, Parameter, FloatRange, BoolType, StringIO,\
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HasIodev, IntRange, Done, Attached, Command
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class DPM3IO(StringIO):
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class DPM3IO(StringIO):
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@ -43,7 +45,7 @@ def float2hex(value, digits):
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return '%06X' % intvalue
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return '%06X' % intvalue
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class DPM3(HasIodev, Readable):
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class DPM3(HasIodev, Drivable):
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OFFSET = 0x8f
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OFFSET = 0x8f
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SCALE = 0x8c
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SCALE = 0x8c
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@ -52,8 +54,11 @@ class DPM3(HasIodev, Readable):
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iodevClass = DPM3IO
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iodevClass = DPM3IO
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motor = Attached()
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digits = Parameter('number of digits for value', IntRange(0, 5), initwrite=True, readonly=False)
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digits = Parameter('number of digits for value', IntRange(0, 5), initwrite=True, readonly=False)
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value = Parameter(unit='N')
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value = Parameter(unit='N')
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target = Parameter(unit='N')
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step = Parameter('maximum motor step', FloatRange(unit='deg'), default=5, readonly=False)
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offset = Parameter('', FloatRange(-1e5, 1e5), readonly=False, poll=True)
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offset = Parameter('', FloatRange(-1e5, 1e5), readonly=False, poll=True)
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@ -62,6 +67,8 @@ class DPM3(HasIodev, Readable):
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thus a maximl output of 1500. 10=150/f
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thus a maximl output of 1500. 10=150/f
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"""
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"""
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scale_factor = Parameter('', FloatRange(-1e5, 1e5, unit='input_units/N'), readonly=False, poll=True)
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scale_factor = Parameter('', FloatRange(-1e5, 1e5, unit='input_units/N'), readonly=False, poll=True)
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||||||
|
_target = None
|
||||||
|
fast_pollfactor = 0.01
|
||||||
|
|
||||||
def query(self, adr, value=None):
|
def query(self, adr, value=None):
|
||||||
if value is not None:
|
if value is not None:
|
||||||
@ -108,8 +115,36 @@ class DPM3(HasIodev, Readable):
|
|||||||
return int(back_value,16) - 1
|
return int(back_value,16) - 1
|
||||||
|
|
||||||
def read_value(self):
|
def read_value(self):
|
||||||
value = self._iodev.communicate('*1B1')
|
value = float(self._iodev.communicate('*1B1'))
|
||||||
return float(value)
|
if self._target is not None:
|
||||||
|
mot = self._motor
|
||||||
|
if self._direction * (self._target - value) > 0:
|
||||||
|
if not mot.isBusy():
|
||||||
|
step = self.step * self._direction
|
||||||
|
mot.write_target(mot.value + step)
|
||||||
|
else:
|
||||||
|
print(value)
|
||||||
|
self.stop()
|
||||||
|
self.status = self.Status.IDLE, 'target reached'
|
||||||
|
return value
|
||||||
|
|
||||||
|
def write_target(self, target):
|
||||||
|
self._target = target
|
||||||
|
if target - self.value > 0:
|
||||||
|
self._direction = 1
|
||||||
|
else:
|
||||||
|
self._direction = -1
|
||||||
|
print('direction', self._direction)
|
||||||
|
self.status = self.Status.BUSY, 'moving motor'
|
||||||
|
if self._motor.status[0] == self.Status.ERROR:
|
||||||
|
self._motor.reset()
|
||||||
|
return target
|
||||||
|
|
||||||
|
@Command()
|
||||||
|
def stop(self):
|
||||||
|
self._target = None
|
||||||
|
self._motor.stop()
|
||||||
|
self.status = self.Status.IDLE, 'stopped'
|
||||||
|
|
||||||
def read_offset(self):
|
def read_offset(self):
|
||||||
reply = self.query(self.OFFSET)
|
reply = self.query(self.OFFSET)
|
||||||
|
|||||||
102
secop_psi/ls240.py
Normal file
102
secop_psi/ls240.py
Normal file
@ -0,0 +1,102 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
# *****************************************************************************
|
||||||
|
# This program is free software; you can redistribute it and/or modify it under
|
||||||
|
# the terms of the GNU General Public License as published by the Free Software
|
||||||
|
# Foundation; either version 2 of the License, or (at your option) any later
|
||||||
|
# version.
|
||||||
|
#
|
||||||
|
# This program is distributed in the hope that it will be useful, but WITHOUT
|
||||||
|
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
|
||||||
|
# details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License along with
|
||||||
|
# this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
#
|
||||||
|
# Module authors:
|
||||||
|
# Markus Zolliker <markus.zolliker@psi.ch>
|
||||||
|
# *****************************************************************************
|
||||||
|
"""LakeShore 240 temperature monitor"""
|
||||||
|
|
||||||
|
import struct
|
||||||
|
from secop.core import FloatRange, HasIodev, Readable, Parameter, BytesIO
|
||||||
|
from secop.errors import CommunicationFailedError
|
||||||
|
|
||||||
|
SD1= 0x10
|
||||||
|
SD2= 0x68
|
||||||
|
FC = 0x49
|
||||||
|
ED = 0x16
|
||||||
|
|
||||||
|
STATUS_REQ = 0x49
|
||||||
|
|
||||||
|
def dehex(msg):
|
||||||
|
return bytes(int(b, 16) for b in msg.split())
|
||||||
|
|
||||||
|
def hexify(msg):
|
||||||
|
return ' '.join('%2.2X' % b for b in msg)
|
||||||
|
|
||||||
|
|
||||||
|
class Ls240(HasIodev, Readable):
|
||||||
|
value = Parameter('sensor reading', FloatRange(unit='Ohm'))
|
||||||
|
|
||||||
|
iodevClass = BytesIO
|
||||||
|
|
||||||
|
def request(self, replylen, data='', ext=None, dst_adr=3, src_adr=2):
|
||||||
|
data = dehex(data)
|
||||||
|
if ext is None:
|
||||||
|
ext = len(data) > 1
|
||||||
|
if ext:
|
||||||
|
dst_adr |= 0x80
|
||||||
|
src_adr |= 0x80
|
||||||
|
if len(data) > 1:
|
||||||
|
length = len(data) + 2
|
||||||
|
hdr = [SD2, length, length, SD2]
|
||||||
|
else:
|
||||||
|
hdr = [SD1]
|
||||||
|
mid = [dst_adr, src_adr] + list(data)
|
||||||
|
checksum = sum(mid) % 256
|
||||||
|
msg = bytes(hdr + mid + [checksum, ED])
|
||||||
|
for i in range(10):
|
||||||
|
try:
|
||||||
|
# print('>', hexify(msg))
|
||||||
|
reply = self._iodev.communicate(msg, replylen)
|
||||||
|
# print('<', hexify(reply))
|
||||||
|
except (TimeoutError, CommunicationFailedError):
|
||||||
|
continue
|
||||||
|
return reply
|
||||||
|
return None
|
||||||
|
|
||||||
|
def read_value(self):
|
||||||
|
|
||||||
|
# check connection
|
||||||
|
self.request(6, '49')
|
||||||
|
|
||||||
|
# get diag
|
||||||
|
# 3C: slave diag, (what means 3E?)
|
||||||
|
reply = self.request(17, '6D 3C 3E')
|
||||||
|
assert reply[13:15] == b'\x0f\x84' # LS240 ident
|
||||||
|
|
||||||
|
# set parameters
|
||||||
|
# 3D set param (what means 3E?)
|
||||||
|
# B0 FF FF: no watchdog, 00: min wait, 0F 84: ident, 01: group
|
||||||
|
assert b'\xe5' == self.request(1, '5D 3D 3E B0 FF FF 00 0F 84 01')
|
||||||
|
|
||||||
|
# set config
|
||||||
|
# 3E set config (what means 2nd 3E?)
|
||||||
|
# 93: input only, 4 == 3+1 bytes
|
||||||
|
assert b'\xe5' == self.request(1, '7D 3E 3E 93')
|
||||||
|
|
||||||
|
# get diag
|
||||||
|
# 3C: slave diag, (what means 3E?)
|
||||||
|
reply = self.request(17, '5D 3C 3E')
|
||||||
|
assert reply[13:15] == b'\x0f\x84' # LS240 ident
|
||||||
|
|
||||||
|
# get data
|
||||||
|
# do not know what 42 24 means
|
||||||
|
reply = self.request(13, '7D 42 24', ext=0)
|
||||||
|
print('DATA', reply)
|
||||||
|
value = struct.unpack('>f', reply[7:11])[0]
|
||||||
|
print('VALUE', value)
|
||||||
|
return value
|
||||||
45
secop_psi/ls340res.py
Normal file
45
secop_psi/ls340res.py
Normal file
@ -0,0 +1,45 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
# *****************************************************************************
|
||||||
|
# This program is free software; you can redistribute it and/or modify it under
|
||||||
|
# the terms of the GNU General Public License as published by the Free Software
|
||||||
|
# Foundation; either version 2 of the License, or (at your option) any later
|
||||||
|
# version.
|
||||||
|
#
|
||||||
|
# This program is distributed in the hope that it will be useful, but WITHOUT
|
||||||
|
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
|
||||||
|
# details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License along with
|
||||||
|
# this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
#
|
||||||
|
# Module authors:
|
||||||
|
# Markus Zolliker <markus.zolliker@psi.ch>
|
||||||
|
# *****************************************************************************
|
||||||
|
"""very simple LakeShore Model 340 driver, resistivity only"""
|
||||||
|
|
||||||
|
import time
|
||||||
|
|
||||||
|
from secop.datatypes import StringType, FloatRange
|
||||||
|
from secop.modules import Parameter, Property, Readable
|
||||||
|
from secop.stringio import HasIodev, StringIO
|
||||||
|
|
||||||
|
|
||||||
|
class LscIO(StringIO):
|
||||||
|
identification = [('*IDN?', 'LSCI,MODEL340,.*')]
|
||||||
|
end_of_line = '\r'
|
||||||
|
wait_before = 0.05
|
||||||
|
|
||||||
|
|
||||||
|
class ResChannel(HasIodev, Readable):
|
||||||
|
"""temperature channel on Lakeshore 340"""
|
||||||
|
|
||||||
|
iodevClass = LscIO
|
||||||
|
|
||||||
|
value = Parameter(datatype=FloatRange(unit='Ohm'))
|
||||||
|
channel = Property('the channel A,B,C or D', StringType())
|
||||||
|
|
||||||
|
def read_value(self):
|
||||||
|
return self._iodev.communicate('SRDG?%s' % self.channel)
|
||||||
@ -198,7 +198,7 @@ class Sensor(Readable):
|
|||||||
|
|
||||||
def update_value(self, value):
|
def update_value(self, value):
|
||||||
if self.abs:
|
if self.abs:
|
||||||
value = abs(value)
|
value = abs(float(value))
|
||||||
self.value = self._calib(value)
|
self.value = self._calib(value)
|
||||||
self._value_error = None
|
self._value_error = None
|
||||||
|
|
||||||
|
|||||||
@ -97,7 +97,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
|
|||||||
FloatRange(0, 360., unit='$'),
|
FloatRange(0, 360., unit='$'),
|
||||||
212, ANGLE_SCALE, readonly=False, group='more')
|
212, ANGLE_SCALE, readonly=False, group='more')
|
||||||
speed = HwParam('max. speed', FloatRange(0, MAX_SPEED, unit='$/sec'),
|
speed = HwParam('max. speed', FloatRange(0, MAX_SPEED, unit='$/sec'),
|
||||||
4, SPEED_SCALE, readonly=False, group='more')
|
4, SPEED_SCALE, readonly=False, group='motorparam')
|
||||||
minspeed = HwParam('min. speed', FloatRange(0, MAX_SPEED, unit='$/sec'),
|
minspeed = HwParam('min. speed', FloatRange(0, MAX_SPEED, unit='$/sec'),
|
||||||
130, SPEED_SCALE, readonly=False, default=SPEED_SCALE, group='motorparam')
|
130, SPEED_SCALE, readonly=False, default=SPEED_SCALE, group='motorparam')
|
||||||
currentspeed = HwParam('current speed', FloatRange(-MAX_SPEED, MAX_SPEED, unit='$/sec'),
|
currentspeed = HwParam('current speed', FloatRange(-MAX_SPEED, MAX_SPEED, unit='$/sec'),
|
||||||
@ -221,7 +221,6 @@ class Motor(PersistentMixin, HasIodev, Drivable):
|
|||||||
initialized = self.comm(GET_GLOB_PAR, 255, bank=2)
|
initialized = self.comm(GET_GLOB_PAR, 255, bank=2)
|
||||||
if initialized: # no power loss
|
if initialized: # no power loss
|
||||||
self.saveParameters()
|
self.saveParameters()
|
||||||
print('SAVED', self.persistentData)
|
|
||||||
else: # just powered up
|
else: # just powered up
|
||||||
# get persistent values
|
# get persistent values
|
||||||
writeDict = self.loadParameters()
|
writeDict = self.loadParameters()
|
||||||
@ -403,18 +402,18 @@ class Motor(PersistentMixin, HasIodev, Drivable):
|
|||||||
self.status = self.Status.IDLE, 'stopped'
|
self.status = self.Status.IDLE, 'stopped'
|
||||||
self._started = 0
|
self._started = 0
|
||||||
|
|
||||||
@Command()
|
#@Command()
|
||||||
def step(self):
|
#def step(self):
|
||||||
self.comm(MOVE, 1, FULL_STEP / ANGLE_SCALE)
|
# self.comm(MOVE, 1, FULL_STEP / ANGLE_SCALE)
|
||||||
|
|
||||||
@Command()
|
#@Command()
|
||||||
def back(self):
|
#def back(self):
|
||||||
self.comm(MOVE, 1, - FULL_STEP / ANGLE_SCALE)
|
# self.comm(MOVE, 1, - FULL_STEP / ANGLE_SCALE)
|
||||||
|
|
||||||
@Command(IntRange(), result=IntRange())
|
#@Command(IntRange(), result=IntRange())
|
||||||
def get_axis_par(self, adr):
|
#def get_axis_par(self, adr):
|
||||||
return self.comm(GET_AXIS_PAR, adr)
|
# return self.comm(GET_AXIS_PAR, adr)
|
||||||
|
|
||||||
@Command((IntRange(), FloatRange()), result=IntRange())
|
#@Command((IntRange(), FloatRange()), result=IntRange())
|
||||||
def set_axis_par(self, adr, value):
|
#def set_axis_par(self, adr, value):
|
||||||
return self.comm(SET_AXIS_PAR, adr, value)
|
# return self.comm(SET_AXIS_PAR, adr, value)
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user