Markus Zolliker
73e06c590b
+ updates of cfg files Change-Id: Ief24ee681423e18cae0fca29fe41419018d394dd
138 lines
5.2 KiB
Python
138 lines
5.2 KiB
Python
# -*- coding: utf-8 -*-
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# *****************************************************************************
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#
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# Markus Zolliker <markus.zolliker@psi.ch>
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#
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# *****************************************************************************
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"""driver for pythron motors"""
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from secop.core import Done, Command, EnumType, FloatRange, IntRange, \
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HasIodev, Parameter, Property, Drivable, PersistentMixin, PersistentParam, StringIO, StringType
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from secop.errors import CommunicationFailedError, HardwareError
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class PhytronIO(StringIO):
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end_of_line = '\x03' # ETX
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identification = [('0IVR', 'MCC Minilog .*')]
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def communicate(self, command):
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head, _, reply = super().communicate('\x02' + command).partition('\x02')
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if reply[0] != '\x06': # ACK
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raise CommunicationFailedError('missing ACK %r' % reply)
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return reply[1:]
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class Motor(PersistentMixin, HasIodev, Drivable):
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axis = Property('motor axis X or Y', StringType(), default='X')
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address = Property('address', IntRange(0, 15), default=0)
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speed_factor = Property('steps / degree', FloatRange(0, None), default=2000)
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encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2),
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default=1, readonly=False)
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value = Parameter('angle', FloatRange(unit='deg'), poll=True)
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target = Parameter('target angle', FloatRange(unit='deg'), readonly=False)
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speed = Parameter('', FloatRange(0, 20, unit='deg/s'), readonly=False, poll=True)
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encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01)
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zero = PersistentParam('', FloatRange(unit='deg'), readonly=False, default=0)
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encoder = Parameter('encoder reading', FloatRange(unit='deg'), poll=True)
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iodevClass = PhytronIO
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def earlyInit(self):
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self.loadParameters()
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def get(self, cmd):
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return self._iodev.communicate('\x02%x%s%s' % (self.address, self.axis, cmd))
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def set(self, cmd, value):
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self._iodev.communicate('\x02%x%s%s%g' % (self.address, self.axis, cmd, value))
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def set_get(self, cmd, value, query):
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self.set(cmd, value)
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return self.get(query)
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def read_value(self):
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pos = float(self.get('P20R')) + self.zero
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if self.encoder_mode != 'NO':
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enc = self.read_encoder()
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else:
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enc = pos
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status = self.get('=H')
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if status == 'N':
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if (self.encoder_mode == 'CHECK' and
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abs(enc - pos) > self.speed * 0.1 + self.encoder_tolerance):
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self.get('SN') # stop
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self.status = self.Status.ERROR, 'encoder does not match pos'
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else:
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self.status = self.Status.BUSY, 'driving'
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else:
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if (self.encoder_mode == 'CHECK' and
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abs(enc - pos) > self.encoder_tolerance):
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self.status = self.Status.ERROR, 'encoder does not match pos'
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else:
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self.status = self.Status.IDLE, ''
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return pos
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def read_encoder(self):
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if self.encoder_mode == 'NO':
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return self.value
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return float(self.get('P22R')) + self.zero
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def read_speed(self):
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return float(self.get('P14R')) / self.speed_factor
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def write_speed(self, value):
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if abs(float(self.get('P03R')) * self.speed_factor - 1) > 0.001:
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raise HardwareError('speed factor does not match')
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return float(self.set_get('P14S', int(value * self.speed_factor), 'P14R')) / self.speed_factor
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def write_target(self, value):
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if self.status[0] == self.Status.ERROR:
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raise HardwareError('need reset')
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self.status = self.Status.BUSY, 'changed target'
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self.set('A', value - self.zero)
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def write_zero(self, value):
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self.zero = value
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self.saveParameters()
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return Done
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def stop(self):
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self.get('SN')
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@Command
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def reset(self):
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self.read_value()
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if self.status[0] == self.Status.ERROR:
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enc = self.encoder - self.zero
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pos = self.value - self.zero
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if abs(enc - pos) > self.encoder_tolerance:
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if enc < 0:
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while enc < 0:
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self.zero -= 360
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enc += 360
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self.set('P22S', enc)
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self.saveParameters()
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self.set('P20S', enc) # set pos to encoder
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self.status = self.Status.IDLE, ''
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# TODO:
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# '=E' electronics status
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# '=I+' / '=I-': limit switches
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# use P37 to determine if restarted |