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Implement limit switches and the SC and TS commands on fake Galil motors

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Douglas Clowes
2013-06-14 13:31:28 +10:00
parent d6f72482b3
commit bff8cc2c16
2 changed files with 20 additions and 4 deletions
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22
site_ansto/instrument/TEST_SICS/fakeGalil/galilmotor.py
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@@ -1,5 +1,5 @@
#!/usr//bin/env python
# vim: ts=8 sts=4 sw=4 expandtab
# vim: ts=8 sts=4 sw=4 ft=python expandtab
# Author: Douglas Clowes (dcl@ansto.gov.au) 2012-06-29
import inspect
import time
@@ -169,8 +169,18 @@ class GalilMotor(object):
currentPosition = self.getPosition()
if not self.moveCallback == None:
self.moveCallback(self)
# TODO Forward Limit
# TODO Reverse Limit
if self.targetSteps > self.motorStartSteps and currentPosition >= self.upperLim:
# Forward Limit
self.motorState = "STOPPED"
self.stopcode = 2 # stopped by forward limit
self.switches = 44 - 8 # stopped, reverse limit clear
pass
if self.targetSteps < self.motorStartSteps and currentPosition <= self.lowerLim:
# Reverse Limit
self.motorState = "STOPPED"
self.stopcode = 3 # stopped by reverse limit
self.switches = 44 - 4 # stopped, forward limit clear
pass
if self.motorState == "STOPPED":
print "Axis %s stopped at:" % self.axis, currentPosition
self.currentSteps = self.targetSteps
@@ -243,6 +253,12 @@ class GalilMotor(object):
def doCommandTP(self, arg):
return self.doQuery("TP")
def doCommandSC(self, arg):
return self.doQuery("SC")
def doCommandTS(self, arg):
return self.doQuery("TS")
def doCommandST(self, arg):
if self.motorState in ["MOVING"]:
self.motorState = "STOPPED"