linse/frappy
3
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix set_zero

Browse Source 
and cosmetic changes
This commit is contained in:
zolliker 2021-10-27 16:35:57 +02:00
parent 5f034a40f8
commit e47d07f706
1 changed files with 24 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
secop_psi/trinamic.py
View File

@ -125,8 +125,9 @@ class Motor(PersistentMixin, HasIodev, Drivable):
# fast_pollfactor = 0.001 # poll as fast as possible when busy
fast_pollfactor = 0.05
_started = 0
_calcTimeout = True
_calc_timeout = True
_need_reset = None
_last_change = 0
def comm(self, cmd, adr, value=0, bank=0):
"""set or get a parameter
@ -137,8 +138,8 @@ class Motor(PersistentMixin, HasIodev, Drivable):
:param value: if given, the parameter is written, else it is returned
:return: the returned value
"""
if self._calcTimeout:
self._calcTimeout = False
if self._calc_timeout:
self._calc_timeout = False
baudrate = getattr(self._iodev._conn.connection, 'baudrate', None)
if baudrate:
if baudrate not in BAUDRATES:
@ -179,13 +180,17 @@ class Motor(PersistentMixin, HasIodev, Drivable):
pobj = self.parameters[pname]
scale = pobj.scale
rawvalue = round(value / scale)
self.comm(SET_AXIS_PAR, pobj.adr, rawvalue, **kwds)
if check:
result = self.comm(GET_AXIS_PAR, pobj.adr, **kwds)
if result != rawvalue:
raise HardwareError('result does not match %d != %d' % (result, rawvalue))
value = result * scale
return value
for itry in range(2):
self.comm(SET_AXIS_PAR, pobj.adr, rawvalue, **kwds)
if check:
result = self.comm(GET_AXIS_PAR, pobj.adr, **kwds)
if result != rawvalue:
self.log.warning('result for %s does not match %d != %d, try again', pname, result, rawvalue)
continue
value = result * scale
return value
else:
raise HardwareError('result for %s does not match %d != %d' % (pname, result, rawvalue))
def startModule(self, started_callback):
# get encoder value from motor. at this stage self.encoder contains the persistent value
@ -251,8 +256,12 @@ class Motor(PersistentMixin, HasIodev, Drivable):
self.log.error('encoder (%.2f) does not match internal pos (%.2f)', self.encoder, self.steppos)
return self.Status.ERROR, 'encoder does not match internal pos'
return self.status
if oldpos != self.steppos or not (self.read_target_reached() or self.read_move_status()
or self.read_error_bits()):
now = self.parameters['steppos'].timestamp
if self.steppos != oldpos:
self._last_change = now
return self.Status.BUSY, 'moving'
if now < self._last_change + 0.2 and not (self.read_target_reached() or self.read_move_status()
or self.read_error_bits()):
return self.Status.BUSY, 'moving'
diff = self.target - self.encoder
if abs(diff) <= self.tolerance:
@ -275,7 +284,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
self._need_reset = True
self.status = self.Status.ERROR, 'encoder does not match internal pos'
raise HardwareError('need reset (encoder does not match internal pos)')
self.set('steppos', self.encoder - self.zero)
self.set('steppos', self.encoder - self.zero, check=False)
self._started = time.time()
self.log.debug('move to %.1f', target)
self.comm(MOVE, 0, (target - self.zero) / ANGLE_SCALE)
@ -357,7 +366,8 @@ class Motor(PersistentMixin, HasIodev, Drivable):
@Command(FloatRange())
def set_zero(self, value):
self.write_zero(value - self.read_value())
raw = self.read_value() - self.zero
self.write_zero(value - raw)
def read_baudrate(self):
return self.comm(GET_GLOB_PAR, 65)