round_digits=3)
pulse_count = xaxis.calculate_pulse_count(steps_per_rev, total_revolutions)
set_axis_cmd = xaxis.set_axis(frequency=frequency,
pulse_count=pulse_count,
direction=direction,
start_ramp=1,
finish_ramp=1,
ramp_divide=ramp_divide,
ramp_pause=ramp_pause,
enable_line_polarity=0)
xaxis.send_command(set_axis_cmd)
# Get the responses - look for both responses to be returned before continuing
wait_for_responses(xaxis, ["RI01CX*", "CI01CX*"],
"------- Set axis command responses -------")
# Send back pulse count for each full revolution
xaxis.send_command(
xaxis.set_auto_count_pulse_out(pulse_count=steps_per_rev, xreplies=1))
wait_for_responses(
xaxis, ["RI01JX*"],
"------- Set auto count pulse out command responses -------")
# Start the motor
xaxis.send_command(xaxis.start())
# Check for both reply and complete responses to be returned
wait_for_responses(xaxis, ["RI01SX*"],
"------- Start command responses -------")
# Print the pulse counts - "DI01JX*"
print_pulse_count_responses(axis=xaxis, response_to_end="CI01SX")
class TestAxis(unittest.TestCase):
def setUp(self):
self.axis = Axis("X", command_type="I", command_id=0, test_mode=True)
self.axis.debug = True
self.axis.frequency = 125000.0
self.axis.pulse_count = 4294967295
self.axis.direction = 1
self.axis.start_ramp = 1
self.axis.finish_ramp = 1
self.axis.ramp_divide = 100
self.axis.ramp_pause = 10
self.axis.link_to_adc = 0
self.axis.enable_line_polarity = 1
self.axis.pulse_count_change_direction = 0
self.axis.pulse_counts_sent_back = 0
self.axis.wait_delay = 0
self.axis.enable_disable_x_pulse_count_replies = 1
self.axis.enable_disable_y_pulse_count_replies = 0
self.axis.enable_disable_z_pulse_count_replies = 0
self.axis.enable_disable_e_pulse_count_replies = 0
self.axis.pause_all_return_x_pulse_count = 0
self.axis.pause_all_return_y_pulse_count = 0
self.axis.pause_all_return_z_pulse_count = 0
self.axis.pause_all_return_e_pulse_count = 0
def test_set_axis(self):
self.assertEqual("I00CX125000.000429496729511110001001*",
self.axis.set_axis())
def test_set_direction_forward(self):
self.assertEqual("I00CX125000.000429496729501110001001*",
self.axis.set_direction_forward())
def test_set_direction_reverse(self):
self.assertEqual("I00CX125000.000429496729511110001001*",
self.axis.set_direction_reverse())
def test_enable_start_ramp(self):
self.assertEqual("I00CX125000.000429496729511110001001*",
self.axis.enable_start_ramp())
def test_disable_start_ramp(self):
self.assertEqual("I00CX125000.000429496729510110001001*",
self.axis.disable_start_ramp())
def test_enable_finish_ramp(self):
self.assertEqual("I00CX125000.000429496729511110001001*",
self.axis.enable_finish_ramp())
def test_disable_finish_ramp(self):
self.assertEqual("I00CX125000.000429496729511010001001*",
self.axis.disable_finish_ramp())
def test_enable_line_polarity_0_volts(self):
self.assertEqual("I00CX125000.000429496729511110001000*",
self.axis.enable_line_polarity_0_volts())
def test_enable_line_polarity_5_volts(self):
self.assertEqual("I00CX125000.000429496729511110001001*",
self.axis.enable_line_polarity_5_volts())
def test_set_auto_direction_change(self):
self.axis.pulse_count_change_direction = 100
self.assertEqual("I00BX0000000100*",
self.axis.set_auto_direction_change())
def test_set_auto_count_pulse_out(self):
self.axis.pulse_counts_sent_back = 100
self.axis.enable_disable_x_pulse_count_replies = 1
self.axis.enable_disable_y_pulse_count_replies = 0
self.axis.enable_disable_z_pulse_count_replies = 0
self.axis.enable_disable_e_pulse_count_replies = 0
self.assertEqual("I00JX00000001001000*",
self.axis.set_auto_count_pulse_out())
def test_start(self):
self.assertEqual("I00SX*", self.axis.start())
def test_start_all(self):
self.assertEqual("I00SA*", self.axis.start_all())
def test_stop(self):
self.assertEqual("I00TX*", self.axis.stop())
def test_stop_all(self):
self.assertEqual("I00TA*", self.axis.stop_all())
def test_pause(self):
self.assertEqual("I00PX0000*", self.axis.pause())
def test_pause_all(self):
self.assertEqual("I00PA0000*", self.axis.pause_all())
def test_resume(self):
self.assertEqual("I00PX0000*", self.axis.resume())
def test_resume_all(self):
self.assertEqual("I00PA0000*", self.axis.resume_all())
def test_get_current_pulse_count(self):
self.assertEqual("I00XP*", self.axis.get_current_pulse_count())
def test_change_speed(self):
self.assertEqual("I00QX001000.000*",
self.axis.change_speed(new_frequency=1000.000))
def test_enable_limit_switches(self):
self.assertEqual("I00KX1*", self.axis.enable_limit_switches())
def test_disable_limit_switches(self):
self.assertEqual("I00KX0*", self.axis.disable_limit_switches())
def test_enable_emergency_stop(self):
self.assertEqual("I00KS1*", self.axis.enable_emergency_stop())
def test_disable_emergency_stop(self):
self.assertEqual("I00KS0*", self.axis.disable_emergency_stop())