Implement a turn counter for wrap-around rotary encoders

site_ansto/instrument/TEST_SICS/fakeGalil/galilmotor.py

@@ -32,6 +32,7 @@ class GalilMotor(object):
         self.stopCallback = None
         self.moveCallback = None
         self.trace = False
+        self.rotary_bits = 0
 
     def doTrace(self, arg):
         print "Trace %s: %s" % (self.axis, arg),
@@ -80,6 +81,9 @@ class GalilMotor(object):
             elif lh == "NAM":
                 self.name = rh[1:-1]
                 self.configDone = True
+            elif lh == "ROT":
+                self.rotary_bits = int(rh)
+                self.configDone = True
             else:
                 print "Unrecognized config item \"%s\" in \"%s\"" % (lh, arg)
         if self.configDone and not configDoneAlready:
@@ -228,6 +232,8 @@ class GalilMotor(object):
             response = self.getPosition()
         elif arg == "TP":
             response = self.getEncoder()
+            if self.rotary_bits > 0:
+                response = response & ((1 << self.rotary_bits) - 1)
         elif arg == "SP":
             response = self.speed
         elif arg == "AC":