def terminateValveControl(self, msg="NO_MSG"):
endTest(msg)
print(msg)
if (self.stepper is not None):
self.stepper.setVelocityLimit(0)
self.stepper.setEngaged(0)
self.stepper.close()
def onEncoderDetached(self, e):
try:
print("\nDetach event on Port %d Channel %d" % (detached.getHubPort(), detached.getChannel()))
except PhidgetException as e:
terminateValveControl("encoder detached! Phidget Exception " + str(e.code) + " " + e.details)
try:
tempVelocity = self.velocitySetting
self.MEVStepper.setVelocity(0)
tempPosition = self.encoder.getPosition()
self.encoder.close()
self.initEncoder(tempPosition)
self.MEVStepper.setVelocity(tempVelocity)
except Exception as e:
endTest("Encoder detached error")
def onEncoderAttached(self, e):
try:
attached = e
print("\nAttach Event Detected (Information Below)")
print("===========================================")
print("Library Version: %s" % attached.getLibraryVersion())
print("Serial Number: %d" % attached.getDeviceSerialNumber())
print("Channel: %d" % attached.getChannel())
print("Channel Class: %s" % attached.getChannelClass())
print("Channel Name: %s" % attached.getChannelName())
print("Device ID: %d" % attached.getDeviceID())
print("Device Version: %d" % attached.getDeviceVersion())
print("Device Name: %s" % attached.getDeviceName())
print("Device Class: %d" % attached.getDeviceClass())
print("\n")
except Exception as e:
endTest("Encoder attached error")
def initEncoder(self, serialNum, initPosition=0):
self.encoder = Encoder()
try:
self.encoder.setDeviceSerialNumber(serialNum)
self.encoder.setChannel(0)
self.encoder.setOnAttachHandler(self.onEncoderAttached)
self.encoder.setOnDetachHandler(self.onEncoderDetached)
self.encoder.setOnErrorHandler(self.onErrorEvent)
#self.encoder.setOnPositionChangeHandler(self.onPositionChanged)
self.encoder.openWaitForAttachment(5000)
self.encoder.setPosition(initPosition)
self.encoder.setDataInterval(10)
if (not self.encoder.getEnabled()):
self.encoder.setEnabled(1)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
endTest("Encoder init error")
def onErrorEvent(self, e, eCode, description):
print("Error event #%i : %s" % (eCode, description))
endTest("Encoder error")
