class ARRW60(base.TarableScales):
"""The ARRW60 model of Adventurer scales."""
ERROR = "error"
OK = "ok"
def __init__(self, host, port):
super(ARRW60, self).__init__()
self._connection = SocketConnection(host, port, "\r\n")
self._states = self._states.union(set([ARRW60.OK, ARRW60.ERROR]))
def _execute(self, cmd):
result = self._connection.execute(cmd)
if "OK!" not in result:
raise ValueError("Bad command or value")
def _tare(self):
self._execute("T")
def _get_weight(self):
"""
Get weight from the scales. The command does not return until
a balanced position is found, thus it can time out.
"""
res = self._connection.execute("P")
if "Err8.4" in res:
self._set_state(ARRW60.ERROR)
raise WeightError("More than maximum weight loaded")
else:
if self.state == ARRW60.ERROR or self.state == Device.NA:
# Clear the error from before or set OK for the first time
self._set_state(ARRW60.OK)
# The returned string contains units
res = q.Quantity(res).to(q.g)
return float(res.magnitude) * q.counts
class LinearMotor(Motor):
"""A linear motor that moves in two directions."""
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, -1 * q.mm)
super(LinearMotor, self).__init__(calibration)
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
self._home()
self._steps = 0
def _get_position(self):
return self._steps
def _set_position(self, steps):
self._connection.send('lin %i\r\n' % steps)
self._connection.recv()
self._steps = steps
def _stop(self):
pass
def _home(self):
self._set_position(0)
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, 0 * q.mm)
super(RotationMotor, self).__init__(calibration)
self._steps = 0
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
class LinearMotor(Motor):
"""A linear motor that moves in two directions."""
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, -1 * q.mm)
super(LinearMotor, self).__init__(calibration)
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
self._home()
self._steps = 0
def _get_position(self):
return self._steps
def _set_position(self, steps):
self._connection.send('lin %i\r\n' % steps)
self._connection.recv()
self._steps = steps
def _stop(self):
pass
def _home(self):
self._set_position(0)
def __init__(self, host=DEFAULT_CRIO_HOST, port=DEFAULT_CRIO_PORT_LINEAR):
super(LinearMotor, self).__init__()
self._connection = SocketConnection(host, port, '\r\n')
self._position = 0 * q.mm
self._to_device_scale = 50000
self['position'].lower = 0 * q.mm
self['position'].upper = 2 * q.mm
def __init__(self,
host=DEFAULT_CRIO_HOST,
port=DEFAULT_CRIO_PORT_ROTATIONAL):
super(RotationMotor, self).__init__()
self._connection = SocketConnection(host, port, '\r\n')
self._position = 0 * q.deg
self._velocity = 0 * q.deg / q.s
self._to_device_scale = 2
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, 0 * q.mm)
super(RotationMotor, self).__init__(calibration)
self._steps = 0
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
def __init__(self, host=DEFAULT_CRIO_HOST, port=DEFAULT_CRIO_PORT_LINEAR):
super(LinearMotor, self).__init__()
self._connection = SocketConnection(host, port, '\r\n')
self._position = 0 * q.mm
self._to_device_scale = 50000
self['position'].lower = 0 * q.mm
self['position'].upper = 2 * q.mm
class LinearMotor(base.LinearMotor):
"""A linear motor that moves in two directions."""
def __init__(self, host=DEFAULT_CRIO_HOST, port=DEFAULT_CRIO_PORT_LINEAR):
super(LinearMotor, self).__init__()
self._connection = SocketConnection(host, port, '\r\n')
self._position = 0 * q.mm
self._to_device_scale = 50000
self['position'].lower = 0 * q.mm
self['position'].upper = 2 * q.mm
def _get_position(self):
return self._position / self._to_device_scale
def _set_position(self, position):
self._position = position.to(q.mm) * self._to_device_scale
self._connection.execute('lin {} 5000'.format(int(self._position)))
def _stop(self):
self._connection.execute('mod stop')
class RotationMotor(Motor):
"""A rotational motor."""
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, 0 * q.mm)
super(RotationMotor, self).__init__(calibration)
self._steps = 0
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
def _get_position(self):
return self._steps
def _set_position(self, steps):
self._steps = steps
self._connection.send('rot %i\r\n' % steps)
self._connection.recv()
def _stop(self):
pass
class LinearMotor(base.LinearMotor):
"""A linear motor that moves in two directions."""
def __init__(self, host=DEFAULT_CRIO_HOST, port=DEFAULT_CRIO_PORT_LINEAR):
super(LinearMotor, self).__init__()
self._connection = SocketConnection(host, port, '\r\n')
self._position = 0 * q.mm
self._to_device_scale = 50000
self['position'].lower = 0 * q.mm
self['position'].upper = 2 * q.mm
def _get_position(self):
return self._position / self._to_device_scale
def _set_position(self, position):
self._position = position.to(q.mm) * self._to_device_scale
self._connection.execute('lin {} 5000'.format(int(self._position)))
def _stop(self):
self._connection.execute('mod stop')
class RotationMotor(base.ContinuousRotationMotor):
"""A rotational motor."""
def __init__(self, host=DEFAULT_CRIO_HOST, port=DEFAULT_CRIO_PORT_ROTATIONAL):
super(RotationMotor, self).__init__()
self._connection = SocketConnection(host, port, '\r\n')
self._position = 0 * q.deg
self._velocity = 0 * q.deg / q.s
self._to_device_scale = 2
def _in_hard_limit(self):
return False
def _in_velocity_hard_limit(self):
return False
def _get_position(self):
return self._position / self._to_device_scale
def _set_position(self, position):
self._position = position * self._to_device_scale
self._connection.execute('rot {} 500'.format(int(self._position)))
def _get_velocity(self):
return 0 * q.deg / q.s
def _set_velocity(self, velocity):
self._velocity = velocity * self._to_device_scale
self._connection.execute('mod {}'.format(int(self._velocity)))
def _stop(self):
self._connection.execute('mod stop')
class RotationMotor(base.ContinuousRotationMotor):
"""A rotational motor."""
def __init__(self,
host=DEFAULT_CRIO_HOST,
port=DEFAULT_CRIO_PORT_ROTATIONAL):
super(RotationMotor, self).__init__()
self._connection = SocketConnection(host, port, '\r\n')
self._position = 0 * q.deg
self._velocity = 0 * q.deg / q.s
self._to_device_scale = 2
def _in_hard_limit(self):
return False
def _in_velocity_hard_limit(self):
return False
def _get_position(self):
return self._position / self._to_device_scale
def _set_position(self, position):
self._position = position * self._to_device_scale
self._connection.execute('rot {} 500'.format(int(self._position)))
def _get_velocity(self):
return 0 * q.deg / q.s
def _set_velocity(self, velocity):
self._velocity = velocity * self._to_device_scale
self._connection.execute('mod {}'.format(int(self._velocity)))
def _stop(self):
self._connection.execute('mod stop')
class RotationMotor(Motor):
"""A rotational motor."""
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, 0 * q.mm)
super(RotationMotor, self).__init__(calibration)
self._steps = 0
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
def _get_position(self):
return self._steps
def _set_position(self, steps):
self._steps = steps
self._connection.send('rot %i\r\n' % steps)
self._connection.recv()
def _stop(self):
pass
class ARRW60(base.TarableScales):
"""The ARRW60 model of Adventurer scales."""
ERROR = "error"
OK = "ok"
def __init__(self, host, port):
super(ARRW60, self).__init__(LinearCalibration(q.counts / q.g,
0 * q.g))
self._connection = SocketConnection(host, port, "\r\n")
self._states = self._states.union(set([ARRW60.OK, ARRW60.ERROR]))
def _execute(self, cmd):
result = self._connection.execute(cmd)
if "OK!" not in result:
raise ValueError("Bad command or value")
def _tare(self):
self._execute("T")
def _get_weight(self):
"""
Get weight from the scales. The command does not return until
a balanced position is found, thus it can time out.
"""
res = self._connection.execute("P")
if "Err8.4" in res:
self._set_state(ARRW60.ERROR)
raise WeightError("More than maximum weight loaded")
else:
if self.state == ARRW60.ERROR or self.state == Device.NA:
# Clear the error from before or set OK for the first time
self._set_state(ARRW60.OK)
# The returned string contains units
res = q.Quantity(res).to(q.g)
return float(res.magnitude) * q.counts
def __init__(self, host, port):
super(ARRW60, self).__init__()
self._connection = SocketConnection(host, port, "\r\n")
self._states = self._states.union(set([ARRW60.OK, ARRW60.ERROR]))
def __init__(self, host=DEFAULT_CRIO_HOST, port=DEFAULT_CRIO_PORT_ROTATIONAL):
super(RotationMotor, self).__init__()
self._connection = SocketConnection(host, port, '\r\n')
self._position = 0 * q.deg
self._velocity = 0 * q.deg / q.s
self._to_device_scale = 2
def __init__(self, host, port):
super(ARRW60, self).__init__(LinearCalibration(q.counts / q.g,
0 * q.g))
self._connection = SocketConnection(host, port, "\r\n")
self._states = self._states.union(set([ARRW60.OK, ARRW60.ERROR]))
def __init__(self, host, port):
super(ARRW60, self).__init__()
self._connection = SocketConnection(host, port, "\r\n")
self._states = self._states.union(set([ARRW60.OK, ARRW60.ERROR]))
def __init__(self, host, port):
super(ARRW60, self).__init__(LinearCalibration(q.counts / q.g,
0 * q.g))
self._connection = SocketConnection(host, port, "\r\n")
self._states = self._states.union(set([ARRW60.OK, ARRW60.ERROR]))
