30 lines
789 B
Python
30 lines
789 B
Python
import ch.psi.pshell.device.Speedable as Speedable
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class PseudoMotor(RegisterBase, Speedable):
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def __init__(self):
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self.readback = 0.0
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self.setpoint = 0.0
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self.settime = time.time()
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def doRead(self):
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offset = self.setpoint - self.readback
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d = (self.speed * (time.time() - self.settime))
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d = min(d, abs(offset))
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self.position = self.readback + d if offset>0 else self.readback -d
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return self.position
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def doWrite(self, val):
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self.settime = time.time()
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self.setpoint = val
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def getSpeed(self):
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return 3.0
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positioner = PseudoMotor()
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add_device(positioner, True);
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show_panel(positioner)
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cscan(positioner, MachineCurrent, 0, 10, 1.0)
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