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update phytron driver

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offset as storage only (after current draft specs)

Change-Id: I1a005f149a8bd562124e2d40e49416957f66e851
This commit is contained in:
zolliker 2023-05-10 14:32:26 +02:00
parent 3099c813d1
commit c46947afd4
1 changed files with 13 additions and 13 deletions
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26
frappy_psi/phytron.py
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@ -43,8 +43,7 @@ class PhytronIO(StringIO):
_, _, reply = super().communicate('\x02' + command).partition('\x02') _, _, reply = super().communicate('\x02' + command).partition('\x02')
if reply[0] == '\x06': # ACK if reply[0] == '\x06': # ACK
break break
raise CommunicationFailedError('missing ACK %r (cmd: %r)' raise CommunicationFailedError(f'missing ACK {reply!r} (cmd: {command!r})')
% (reply, command))
except Exception as e: except Exception as e:
if itry < ntry - 1: if itry < ntry - 1:
warn = e warn = e
@ -70,13 +69,13 @@ class Motor(HasOffset, PersistentMixin, HasIO, Drivable):
encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01) encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01)
sign = PersistentParam('', IntRange(-1,1), readonly=False, default=1) sign = PersistentParam('', IntRange(-1,1), readonly=False, default=1)
encoder = Parameter('encoder reading', FloatRange(unit='deg')) encoder = Parameter('encoder reading', FloatRange(unit='deg'))
backlash = Parameter("""backlash compensation\n backlash = PersistentParam("""backlash compensation\n
offset for always approaching from the same side""", offset for always approaching from the same side""",
FloatRange(unit='deg'), readonly=False, default=0) FloatRange(unit='deg'), readonly=False, default=0)
target_min = Limit() target_min = Limit()
target_max = Limit() target_max = Limit()
alive_time = PersistentParam('alive time for detecting restarts', alive_time = PersistentParam('alive time for detecting restarts',
FloatRange(), default=0) # export=False FloatRange(), default=0, export=False)
ioClass = PhytronIO ioClass = PhytronIO
fast_poll = 0.1 fast_poll = 0.1
@ -86,19 +85,19 @@ class Motor(HasOffset, PersistentMixin, HasIO, Drivable):
_reset_needed = False _reset_needed = False
def get(self, cmd): def get(self, cmd):
return self.communicate('%x%s%s' % (self.address, self.axis, cmd)) return self.communicate(f'{self.address:x}{self.axis}{cmd}')
def set(self, cmd, value): def set(self, cmd, value):
# make sure e format is not used, max 8 characters # make sure e format is not used, max 8 characters
strvalue = '%.6g' % value strvalue = f'{value:.6g}'
if 'e' in strvalue: if 'e' in strvalue:
if abs(value) <= 1: # very small number if abs(value) <= 1: # very small number
strvalue = '%.7f' % value strvalue = f'{value:.7f}'
elif abs(value) < 99999999: # big number elif abs(value) < 99999999: # big number
strvalue = '%.0f' % value strvalue = f'{value:.0f}'
else: else:
raise ValueError('number (%g) must not have more than 8 digits' % value) raise ValueError(f'number ({value}) must not have more than 8 digits')
self.communicate('%x%s%s%s' % (self.address, self.axis, cmd, strvalue)) self.communicate(f'{self.address:x}{self.axis}{cmd}{strvalue}')
def set_get(self, cmd, value, query): def set_get(self, cmd, value, query):
self.set(cmd, value) self.set(cmd, value)
@ -126,7 +125,7 @@ class Motor(HasOffset, PersistentMixin, HasIO, Drivable):
enc = self.read_encoder() enc = self.read_encoder()
else: else:
enc = pos enc = pos
status = self.communicate('%xSE' % self.address) status = self.communicate(f'{self.address:x}SE')
status = status[0:4] if self.axis == 'X' else status[4:8] status = status[0:4] if self.axis == 'X' else status[4:8]
self.log.debug('run %s enc %s end %s', status[1], status[2], status[3]) self.log.debug('run %s enc %s end %s', status[1], status[2], status[3])
status = self.get('=H') status = self.get('=H')
@ -163,6 +162,7 @@ class Motor(HasOffset, PersistentMixin, HasIO, Drivable):
self._mismatch_count = 0 self._mismatch_count = 0
self.status = IDLE, '' self.status = IDLE, ''
self.value = pos self.value = pos
self.read_encoder() # let encoder quickly match value
self.saveParameters() self.saveParameters()
self.setFastPoll(False) self.setFastPoll(False)
return pos return pos