def homeHandler(self):
"""Homes all the limit switches for the handler."""
self.controller.addCommand(
FlipCommand(self.controller.handler, 'down', home=True))
self.controller.addCommand(
CombinedCommand([
ShiftCommand(self.controller.drill,
self.controller.handler,
0,
inAbsolute=True,
home=True,
rapid=True),
SpinCommand(self.controller.handler, 0, home=True),
]))
def top():
return CombinedCommand([
SpinCommand(self.handler, 0),
FlipCommand(self.handler, 'up')
])
def right():
return CombinedCommand([
SpinCommand(self.handler, 270),
FlipCommand(self.handler, 'down')
])
def left():
return CombinedCommand([
SpinCommand(self.handler, 90),
FlipCommand(self.handler, 'down')
])
def back():
return CombinedCommand([
SpinCommand(self.handler, 180),
FlipCommand(self.handler, 'down')
])
def front():
return CombinedCommand([
SpinCommand(self.handler, 0),
FlipCommand(self.handler, 'down')
])
def calibrateHandler(self):
self.controller.addCommand(FlipCommand(self.controller.handler, 'up'))
self.pauseCommand()
self.controller.addCommand(FlipCommand(self.controller.handler,
'down'))