def move_to(self, pan, tilt, move_type='stop'):
self.p.parse(
self.comms.positioner_query(pkt.set_minimum_speeds(40, 40)), self)
if move_type == 'abs':
coord = qi.Coordinate(pan, tilt)
self.p.parse(
self.comms.positioner_query(pkt.move_to_entered_coords(coord)),
self)
elif move_type == 'delta':
coord = qi.Coordinate(pan, tilt)
self.p.parse(
self.comms.positioner_query(pkt.move_to_delta_coords(coord)),
self)
elif move_type == 'zero':
self.p.parse(
self.comms.positioner_query(pkt.move_to_absolute_zero()), self)
else:
self.p.parse(self.comms.positioner_query(pkt.stop()), self)
time.sleep(.08)
self.p.parse(self.comms.positioner_query(pkt.get_status()), self)
while self.status_executing is True:
self.p.parse(self.comms.positioner_query(pkt.get_status()), self)
time.sleep(.08)
self.p.parse(
self.comms.positioner_query(pkt.set_minimum_speeds(8, 17)), self)
def init_comms_link(self):
tries = 0
rx = self.positioner_query(pkt.get_status())
while tries < self._LIMIT and rx == None:
rx = self.positioner_query(pkt.get_status())
if rx == None:
return False
else:
return True
def jog_down(self, tilt_speed, target):
p = Parser()
rx = self.comms.positioner_query(pkt.get_status())
p.parse(rx, self)
while self.curr_position.tilt_angle() > target.tilt_angle():
rx = self.comms.positioner_query(
pkt.jog_positioner(0, 0, tilt_speed, 0))
p.parse(rx, self)
time.sleep(.08)
p.parse(self.comms.positioner_query(pkt.get_status()), self)
def update_positioner_stats(self):
self.p.parse(self.comms.positioner_query(pkt.get_status()), self)
self.p.parse(self.comms.positioner_query(pkt.get_angle_correction()),
self)
self.p.parse(self.comms.positioner_query(pkt.get_soft_limit(0)), self)
self.p.parse(self.comms.positioner_query(pkt.get_soft_limit(1)), self)
self.p.parse(self.comms.positioner_query(pkt.get_soft_limit(2)), self)
self.p.parse(self.comms.positioner_query(pkt.get_soft_limit(3)), self)
self.p.parse(self.comms.positioner_query(pkt.get_minimum_speeds()),
self)
self.p.parse(
self.comms.positioner_query(
pkt.get_set_communication_timeout(True, 0)), self)
self.p.parse(self.comms.positioner_query(pkt.get_maximum_speeds()),
self)
def get_status(self):
self.p.parse(self.comms.positioner_query(pkt.get_status()), self)