def get_address(self, parameter='address'):
'''
Reads the address of the motor and returns it
'''
values = self.read(self.address, self.PARAMETER[parameter])
address = translations.hextodec(values)
if self.verbose: print 'The address of the motor is ' + str(address)
return address
def get_address(self, parameter = 'address'):
'''
Reads the address of the motor and returns it
'''
values = self.read(self.address, self.PARAMETER[parameter])
address = translations.hextodec(values)
if self.verbose: print 'The address of the motor is ' + str(address)
return address
def get_errorstatus(self, parameter='errorstatus'):
'''
Returns bits which express what the status of the motor is.
If this returns a non-zero value, you may not be able to change any motor settings depending on the error.
Depending on the value returned, this may be state of the motor:
:param Bit0: Overload
:param Bit1: Follow Error
:param Bit2: Function Error
:param Bit3: Regenerative overload
:param Bit4: In position
:param Bit5: Accelerating
:param Bit6: Decelerating
:param Bit7: Position limits error
:param Bit11: Motor current too high
:param Bit12: Supply undervoltage
:param Bit16: SII Read error
The mode must be set to 1 before reading any errorbits, otherwise returns 0.
More details on the errordict is given in the 'Translations' module in the 'Library' section at the 'checkforerrors' definition.
'''
errordict = {
'Bit 0': 2**0,
'Bit 1': 2**1,
'Bit 2': 2**2,
'Bit 3': 2**3,
'Bit 4': 2**4,
'Bit 5': 2**5,
'Bit 6': 2**6,
'Bit 7': 2**7,
'Bit 8': 2**8,
'Bit 9': 2**9,
'Bit 10': 2**10,
'Bit 11': 2**11,
'Bit 12': 2**12,
'Bit 13': 2**13,
'Bit 14': 2**14,
'Bit 15': 2**15,
'Bit 16': 2**16,
}
BITS = 16
hexa = self.read(self.address, self.PARAMETER[parameter])
error = translations.hextodec(hexa)
if error != 0:
bina = translations.dectobin(error, BITS)
translations.checkforerrors(errordict, bina)
else:
if self.verbose:
print 'If the mode is set to 1, there is an error in Bit 0'
def get_errorstatus(self, parameter = 'errorstatus'):
'''
Returns bits which express what the status of the motor is.
If this returns a non-zero value, you may not be able to change any motor settings depending on the error.
Depending on the value returned, this may be state of the motor:
:param Bit0: Overload
:param Bit1: Follow Error
:param Bit2: Function Error
:param Bit3: Regenerative overload
:param Bit4: In position
:param Bit5: Accelerating
:param Bit6: Decelerating
:param Bit7: Position limits error
:param Bit11: Motor current too high
:param Bit12: Supply undervoltage
:param Bit16: SII Read error
The mode must be set to 1 before reading any errorbits, otherwise returns 0.
More details on the errordict is given in the 'Translations' module in the 'Library' section at the 'checkforerrors' definition.
'''
errordict = {'Bit 0' : 2**0,
'Bit 1' : 2**1,
'Bit 2' : 2**2,
'Bit 3' : 2**3,
'Bit 4' : 2**4,
'Bit 5' : 2**5,
'Bit 6' : 2**6,
'Bit 7' : 2**7,
'Bit 8' : 2**8,
'Bit 9' : 2**9,
'Bit 10' : 2**10,
'Bit 11' : 2**11,
'Bit 12' : 2**12,
'Bit 13' : 2**13,
'Bit 14' : 2**14,
'Bit 15' : 2**15,
'Bit 16' : 2**16,
}
BITS = 16
hexa = self.read(self.address, self.PARAMETER[parameter])
error = translations.hextodec(hexa)
if error != 0:
bina = translations.dectobin(error,BITS)
translations.checkforerrors(errordict, bina)
else:
if self.verbose: print 'If the mode is set to 1, there is an error in Bit 0'
def get_setvelocity(self, parameter = 'velocity'):
'''
reads the velocity that is currently set and returns it in rpm
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
rpm = constants.READ_SRPM/constants.RSPPS*pulses
rpm = translations.rounding(rpm)
if self.verbose: print 'The velocity is set at ' + str(rpm) + ' rpm'
return rpm
def get_setvelocity(self, parameter='velocity'):
'''
reads the velocity that is currently set and returns it in rpm
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
rpm = constants.READ_SRPM / constants.RSPPS * pulses
rpm = translations.rounding(rpm)
if self.verbose: print 'The velocity is set at ' + str(rpm) + ' rpm'
return rpm
def get_temperature(self, parameter = 'temperature'):
'''
Reads the temperature in degrees Celcius and returns it, will give 0 if mode is set to 0
'''
values = self.read(self.address, self.PARAMETER[parameter])
temp = translations.hextodec(values)
if self.verbose:
if temp == 0:
print 'Please turn the motor on before attempting to measure the temperature.'
else:
print 'The Temperature of the motor is ' + str(temp) +' degrees Celcius'
return temp
def get_acceleration(self, parameter = 'acceleration'):
'''
Reads acceleration and returns the value in rpm/s
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
acc = constants.READ_ACC/constants.READ_PPSS*pulses
acc = translations.rounding(acc)
if self.verbose: print 'The acceleration is set at ' + str(acc) + ' rpm/s'
return acc
def get_acceleration(self, parameter='acceleration'):
'''
Reads acceleration and returns the value in rpm/s
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
acc = constants.READ_ACC / constants.READ_PPSS * pulses
acc = translations.rounding(acc)
if self.verbose:
print 'The acceleration is set at ' + str(acc) + ' rpm/s'
return acc
def get_temperature(self, parameter='temperature'):
'''
Reads the temperature in degrees Celcius and returns it, will give 0 if mode is set to 0
'''
values = self.read(self.address, self.PARAMETER[parameter])
temp = translations.hextodec(values)
if self.verbose:
if temp == 0:
print 'Please turn the motor on before attempting to measure the temperature.'
else:
print 'The Temperature of the motor is ' + str(
temp) + ' degrees Celcius'
return temp
def __findMotor(self, start=0, end=10, found=False):
'''
Scans to see if a motor is connected and to which address.
Writes the same message to different addresses, if it receives a reply it returns True.
It also saves the address every time a motor is found in a list and each address can be summoned with
a definition found below.
'''
BYTESIZE = 19
ADDRESREGISTER = 156
# MOTOR_TYPE=153
# SERIAL_NBR = 154
data = []
self.addr = dict()
if self.port.isOpen() == False:
self.port.open()
try:
for j in range(start, end):
address = translations.createcommand_read(
j, ADDRESREGISTER
) #ADDRESREGISTER)# SERIAL_NBR) #MOTOR_TYPE)#)
self.port.write(address.decode('hex'))
for k in range(BYTESIZE):
byte = self.port.read()
data.append(k)
data[k] = byte.encode('hex')
try:
values = [data[9], data[11]]
decim = translations.hextodec(values)
if decim == 1:
found = True
if 'motor' in self.addr:
self.addr.append(j)
else:
self.addr['motor'] = j
print 'Motor found on address ' + str(
j) + ' decim: %s' % decim, ' values: %s' % values
except:
print 'No motor on address ' + str(j)
finally:
self.port.close()
return found
def __findMotor(self, start =0, end=10, found = False):
'''
Scans to see if a motor is connected and to which address.
Writes the same message to different addresses, if it receives a reply it returns True.
It also saves the address every time a motor is found in a list and each address can be summoned with
a definition found below.
'''
BYTESIZE = 19
ADDRESREGISTER = 156
# MOTOR_TYPE=153
# SERIAL_NBR = 154
data = []
self.addr = dict()
if self.port.isOpen()==False:
self.port.open()
try:
for j in range(start,end):
address = translations.createcommand_read(j, ADDRESREGISTER) #ADDRESREGISTER)# SERIAL_NBR) #MOTOR_TYPE)#)
self.port.write(address.decode('hex'))
for k in range(BYTESIZE):
byte = self.port.read()
data.append(k)
data[k] = byte.encode('hex')
try:
values = [data[9],data[11]]
decim = translations.hextodec(values)
if decim == 1:
found = True
if 'motor' in self.addr:
self.addr.append(j)
else:
self.addr['motor'] = j
print 'Motor found on address ' + str(j)+ ' decim: %s'%decim, ' values: %s'%values
except:
print 'No motor on address ' + str(j)
finally:
self.port.close()
return found
def get_actualvelocity(self, parameter = 'actualvelocity'):
'''
reads the actual velocity that the motor is running and returns it in rpm, will return 0 if mode is set to 0
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
rpm = constants.READ_ARPM/constants.RAPPS*pulses
rpm = translations.rounding(rpm)
if self.verbose:
if rpm == 0:
print 'The motor is running at ' + str(rpm) + ' rpm, make sure the motor is on'
else:
print 'The motor is running at ' + str(rpm) + ' rpm'
return rpm
def get_actualvelocity(self, parameter='actualvelocity'):
'''
reads the actual velocity that the motor is running and returns it in rpm, will return 0 if mode is set to 0
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
rpm = constants.READ_ARPM / constants.RAPPS * pulses
rpm = translations.rounding(rpm)
if self.verbose:
if rpm == 0:
print 'The motor is running at ' + str(
rpm) + ' rpm, make sure the motor is on'
else:
print 'The motor is running at ' + str(rpm) + ' rpm'
return rpm
