def __init__(
self,
rsm_id,
stop_task,
step_task,
dir_task,
enable_task = None,
init_pos = 0,
init_enable = False,
enable_level = True,
forwards_level = True
):
StepperMotor.__init__(
self,
dir_task,
enable_task,
init_pos,
init_enable,
enable_level,
forwards_level
)
self.rsm = HandshakeSerialDevice(
HANDSHAKE_RESPONSE,
ID_COMMAND,
rsm_id,
BAUDRATE,
TIMEOUT
)
self.stop_task = stop_task
self.step_task = step_task
class RampStepperMotor(StepperMotor):
def __init__(
self,
rsm_id,
stop_task,
step_task,
dir_task,
enable_task = None,
init_pos = 0,
init_enable = False,
enable_level = True,
forwards_level = True
):
StepperMotor.__init__(
self,
dir_task,
enable_task,
init_pos,
init_enable,
enable_level,
forwards_level
)
self.rsm = HandshakeSerialDevice(
HANDSHAKE_RESPONSE,
ID_COMMAND,
rsm_id,
BAUDRATE,
TIMEOUT
)
self.stop_task = stop_task
self.step_task = step_task
def generate_pulses(self,pulses):
self.step_task.start_counting()
self.rsm.write_line('g')
self.rsm.read_line() # serial device replies with 'g'
self.rsm.write_line(str(pulses))
self.rsm.read_line() # replies with response code, steps generated, and some junk
generated = self.step_task.get_count()
self.step_task.stop_counting()
return generated
def stop(self):
# stop interrupt looks for rising edge
self.stop_task.write_state(False)
self.stop_task.write_state(True)
def get_pulses(self):
return self.step_task.get_count()
def __init__(self, id):
HandshakeSerialDevice.__init__(self, HANDSHAKE_RESPONSE, ID_COMMAND, id, BAUDRATE, TIMEOUT)