284 lines
11 KiB
Python
284 lines
11 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 phytron motors"""
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import time
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from frappy.core import Done, Command, EnumType, FloatRange, IntRange, \
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HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, \
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StringIO, StringType, IDLE, BUSY, ERROR, Limit
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from frappy.errors import CommunicationFailedError, HardwareError
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from frappy.features import HasOffset
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from frappy.states import HasStates, status_code, Retry
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class PhytronIO(StringIO):
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end_of_line = '\x03' # ETX
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timeout = 0.5
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identification = [('0IVR', 'MCC Minilog .*')]
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def communicate(self, command):
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ntry = 5
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warn = None
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for itry in range(ntry):
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try:
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_, _, reply = super().communicate('\x02' + command).partition('\x02')
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if reply[0] == '\x06': # ACK
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break
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raise CommunicationFailedError(f'missing ACK {reply!r} (cmd: {command!r})')
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except Exception as e:
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if itry < ntry - 1:
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warn = e
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else:
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raise
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if warn:
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self.log.warning('needed %d retries after %r', itry, warn)
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return reply[1:]
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class Motor(HasOffset, HasStates, PersistentMixin, HasIO, 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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circumference = Property('cirumference for rotations or zero for linear', FloatRange(0), default=360)
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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 = PersistentParam('angle', FloatRange(unit='deg'))
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status = PersistentParam()
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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)
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accel = Parameter('', FloatRange(2, 250, unit='deg/s/s'), readonly=False)
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encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01)
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sign = PersistentParam('', IntRange(-1,1), readonly=False, default=1)
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encoder = Parameter('encoder reading', FloatRange(unit='deg'))
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backlash = PersistentParam("""backlash compensation\n
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offset for always approaching from the same side""",
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FloatRange(unit='deg'), readonly=False, default=0)
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target_min = Limit()
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target_max = Limit()
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alive_time = PersistentParam('alive time for detecting restarts',
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FloatRange(), default=0, export=False)
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sim_error = Parameter('run time error simulation', StringType(), readonly=False, default='')
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ioClass = PhytronIO
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_step_size = None # degree / step
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_reset_needed = False
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STATUS_MAP = {
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'08': (IDLE, ''),
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'01': (ERROR, 'power stage failure'),
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'02': (ERROR, 'power too low'),
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'04': (ERROR, 'power stage over temperature'),
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'07': (ERROR, 'no power stage'),
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'80': (ERROR, 'encoder failure'),
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}
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def get(self, cmd):
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return self.communicate(f'{self.address:x}{self.axis}{cmd}')
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def set(self, cmd, value):
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# make sure e format is not used, max 8 characters
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strvalue = f'{value:.6g}'
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if 'e' in strvalue:
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if abs(value) <= 1: # very small number
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strvalue = f'{value:.7f}'
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elif abs(value) < 99999999: # big number
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strvalue = f'{value:.0f}'
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else:
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raise ValueError(f'number ({value}) must not have more than 8 digits')
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self.communicate(f'{self.address:x}{self.axis}{cmd}{strvalue}')
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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_alive_time(self):
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now = time.time()
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axisbit = 1 << int(self.axis == 'Y')
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active_axes = int(self.get('P37R')) # adr 37 is a custom address with no internal meaning
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if not axisbit & active_axes: # power cycle detected and this axis not yet active
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self.set('P37S', axisbit | active_axes) # activate axis
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if now < self.alive_time + 7 * 24 * 3600: # the device was running within last week
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# inform the user about the loss of position by the need of doing reset_error
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self._reset_needed = True
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else: # do reset silently
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self.reset_error()
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self.alive_time = now
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self.saveParameters()
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return now
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def read_value(self):
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return float(self.get('P20R')) * self.sign
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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.sign
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def write_sign(self, value):
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self.sign = value
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self.saveParameters()
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return Done
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def get_step_size(self):
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self._step_size = float(self.get('P03R'))
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def read_speed(self):
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if self._step_size is None:
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# avoid repeatedly reading step size, as this is polled and will not change
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self.get_step_size()
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return float(self.get('P14R')) * self._step_size
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def write_speed(self, value):
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self.get_step_size() # read step size anyway, it does not harm
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return float(self.set_get('P14S', round(value / self._step_size), 'P14R')) * self._step_size
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def read_accel(self):
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if not self._step_size:
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self.get_step_size()
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return float(self.get('P15R')) * self._step_size
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def write_accel(self, value):
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self.get_step_size()
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return float(self.set_get('P15S', round(value / self._step_size), 'P15R')) * self._step_size
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def check_target(self, value):
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self.checkLimits(value)
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self.checkLimits(value + self.backlash)
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def write_target(self, value):
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self.read_alive_time()
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if self._reset_needed:
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self.status = ERROR, 'reset needed after power up (probably position lost)'
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raise HardwareError(self.status[1])
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if self.status[0] == ERROR:
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raise HardwareError('need reset')
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self.saveParameters()
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if self.backlash:
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# drive first to target + backlash
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# we do not optimize when already driving from the right side
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self.set('A', self.sign * (value + self.backlash))
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self.start_machine(self.predriving)
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else:
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self.set('A', self.sign * value)
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self.start_machine(self.driving)
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return value
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def read_status(self):
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if self.sim_error:
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sysstatus = self.sim_error
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else:
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sysstatus = self.communicate(f'{self.address:x}SE')
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sysstatus = sysstatus[2:4] if self.axis == 'X' else sysstatus[6:8]
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status = self.STATUS_MAP.get(sysstatus) or (ERROR, f'unknown error {sysstatus}')
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if status[0] == ERROR:
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return status
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return super().read_status() # status from state machine
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def check_moving(self):
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prev_enc = self.encoder
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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 = self.value
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status = self.get('=H')
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if status != 'N': # at target
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return False
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if self.encoder_mode != 'CHECK':
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return True
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e1, e2 = sorted((prev_enc, enc))
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if e1 - self.encoder_tolerance <= self.value <= e2 + self.encoder_tolerance:
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return True
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self.log.error('encoder lag: %g not within %g..%g',
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self.value, e1, e2)
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self.get('S') # stop
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self.saveParameters()
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raise HardwareError('encoder lag error')
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@status_code(BUSY)
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def driving(self, sm):
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if self.check_moving():
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return Retry
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if self.backlash:
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# drive to real target
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self.set('A', self.sign * self.target)
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return self.driving_to_final
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return self.finishing
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@status_code(BUSY)
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def driving_to_final(self, sm):
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if self.check_moving():
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return Retry
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return self.finishing
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@status_code(BUSY)
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def finishing(self, sm):
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if sm.init:
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sm.mismatch_count = 0
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# finish
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pos = self.read_value()
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enc = self.read_encoder()
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if (self.encoder_mode == 'CHECK' and
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abs(enc - pos) > self.encoder_tolerance):
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if sm.mismatch_count > 2:
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self.log.error('encoder mismatch: abs(%g - %g) < %g',
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enc, pos, self.encoder_tolerance)
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raise HardwareError('encoder does not match pos')
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sm.mismatch_count += 1
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return Retry
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self.saveParameters()
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return self.final_status(IDLE, '')
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def stop(self):
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self.get('S')
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@Command
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def reset_error(self):
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"""Reset error, set position to encoder"""
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self.read_value()
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if self.status[0] == ERROR or self._reset_needed:
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newenc = enc = self.read_encoder()
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pos = self.value
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if abs(enc - pos) > self.encoder_tolerance or self.encoder_mode == 'NO':
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if self.circumference:
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# bring encoder value either within or as close as possible to the given range
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if enc < self.target_min:
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mid = self.target_min + 0.5 * min(self.target_max - self.target_min, self.circumference)
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elif enc > self.target_max:
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mid = self.target_max - 0.5 * min(self.target_max - self.target_min, self.circumference)
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else:
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mid = enc
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newenc += round((mid - enc) / self.circumference) * self.circumference
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if newenc != enc and self.encoder_mode != 'NO':
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self.log.info(f'enc {enc} -> {newenc}')
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self.set('P22S', newenc * self.sign)
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if newenc != pos:
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self.log.info(f'pos {pos} -> {newenc}')
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self.set('P20S', newenc * self.sign) # set pos to encoder
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self.read_value()
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self.status = 'IDLE', 'after error reset'
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self._reset_needed = False
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# TODO:
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# '=E' electronics status
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# '=I+' / '=I-': limit switches
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