def startMoving(self, newPos, newSpeed=None):
possteps = self.convertPosToSteps(newPos)
if newSpeed == None:
newSpeed = self.mPosSpeed
else:
# convert from degs / second to incrs / 64 seconds
newSpeed = int(newSpeed * self.mStepsPerUnit * 64)
print newSpeed
if can_control.isInitialized():
can_control.prepareMovement(self.mAxisID)
can_control.startMotorMovementToPos(self.mAxisID,possteps,newSpeed)
else:
print "Could not move motors, CANBus is not intialized"
def startMoving(self, newPos, newSpeed=None):
possteps = self.convertPosToSteps(newPos)
if newSpeed == None:
newSpeed = self.mPosSpeed
else:
# convert from degs / second to incrs / 64 seconds
newSpeed = int(newSpeed * self.mStepsPerUnit * 64)
print newSpeed
if can_control.isInitialized():
can_control.prepareMovement(self.mAxisID)
can_control.startMotorMovementToPos(self.mAxisID, possteps,
newSpeed)
else:
print "Could not move motors, CANBus is not intialized"
def moveImmediateSynchronous(self, newPos, newSpeed=None):
possteps = self.convertPosToSteps(newPos)
if newSpeed == None:
newSpeed = self.mPosSpeed
else:
# convert from degs / second to incrs / 64 seconds
newSpeed = int(newSpeed * self.mStepsPerUnit * 64)
print newSpeed
if can_control.isInitialized():
can_control.prepareMovement(self.mAxisID)
can_control.resetErrors(self.mAxisID)
can_control.setMotorPos(self.mAxisID,possteps,newSpeed)
can_control.finishMovement(self.mAxisID)
else:
print "Could not move motors, CANBus is not intialized"
def moveImmediateSynchronous(self, newPos, newSpeed=None):
possteps = self.convertPosToSteps(newPos)
if newSpeed == None:
newSpeed = self.mPosSpeed
else:
# convert from degs / second to incrs / 64 seconds
newSpeed = int(newSpeed * self.mStepsPerUnit * 64)
print newSpeed
if can_control.isInitialized():
can_control.prepareMovement(self.mAxisID)
can_control.resetErrors(self.mAxisID)
can_control.setMotorPos(self.mAxisID, possteps, newSpeed)
can_control.finishMovement(self.mAxisID)
else:
print "Could not move motors, CANBus is not intialized"
