class DigitalLineDirectionStepperMotor(DirectionStepperMotor):
def __init__(self,
direction_channel,
enable_channel=None,
backlash=0,
direction=DirectionStepperMotor.FORWARDS,
tasks=None):
self.direction_task = DOTask()
self.direction_task.createChannel(direction_channel)
DirectionStepperMotor.__init__(
self,
enable_channel=enable_channel,
backlash=backlash,
direction=direction,
tasks=((tasks if tasks is not None else []) +
[self.direction_task]))
def _setDirection(self, direction):
self.direction_task.writeState({
self.FORWARDS: True,
self.BACKWARDS: False
}[direction])
self.direction = direction
def _getDirection(self):
return self.direction
class DigitalLineDirectionStepperMotor(DirectionStepperMotor):
def __init__(
self,
direction_channel,
enable_channel=None,
backlash=0,
direction=DirectionStepperMotor.FORWARDS,
tasks=None
):
self.direction_task = DOTask()
self.direction_task.createChannel(direction_channel)
DirectionStepperMotor.__init__(
self,
enable_channel=enable_channel,
backlash=backlash,
direction=direction,
tasks = ((tasks if tasks is not None else []) + [self.direction_task])
)
def _setDirection(self,direction):
self.direction_task.writeState(
{
self.FORWARDS:True,
self.BACKWARDS:False
}[direction]
)
self.direction = direction
def _getDirection(self): return self.direction
class EnabledStepperMotor(BaseStepperMotor):
ENABLED = 1
DISABLED = 0
def __init__(self, enable_channel=None, tasks=None):
self.enable_channel = enable_channel
self.enabled = self.DISABLED
if enable_channel is not None:
self.enable_task = DOTask()
self.enable_task.createChannel(enable_channel)
elif enable_channel is None:
self.enable()
tasks = (tasks if tasks is not None else []) + (
[self.enable_task] if self.enable_channel is not None else [])
BaseStepperMotor.__init__(self, tasks=tasks)
def getEnableStatus(self):
enb_str = {
self.ENABLED: 'enabled',
self.DISABLED: 'disabled'
}[self._getEnableStatus()]
return enb_str
def enable(self):
self._setEnableStatus(self.ENABLED)
def disable(self):
self._setEnableStatus(self.DISABLED)
def toggleStatus(self):
if self._getEnableStatus() == self.ENABLED: self.disable()
elif self._getEnableStatus() == self.DISABLED: self.enable()
def _getEnableStatus(self):
return self.enabled
def _setEnableStatus(self, state):
if self.enable_channel is None:
self.enabled = True
return
elif self.enable_channel is not None:
self.enable_task.writeState({
self.ENABLED: True,
self.DISABLED: False
}[state])
self.enabled = state
def _setPosition(self, position, callback):
if self._getEnableStatus() == self.ENABLED:
BaseStepperMotor._setPosition(self, position, callback)
else:
print 'not enabled!'
def destroy(self):
self.disable()
BaseStepperMotor.destroy(self)
def __init__(self, enable_channel=None, tasks=None):
self.enable_channel = enable_channel
self.enabled = self.DISABLED
if enable_channel is not None:
self.enable_task = DOTask()
self.enable_task.createChannel(enable_channel)
elif enable_channel is None:
self.enable()
tasks = (tasks if tasks is not None else []) + (
[self.enable_task] if self.enable_channel is not None else [])
BaseStepperMotor.__init__(self, tasks=tasks)
def __init__(self,
direction_channel,
enable_channel=None,
backlash=0,
direction=DirectionStepperMotor.FORWARDS,
tasks=None):
self.direction_task = DOTask()
self.direction_task.createChannel(direction_channel)
DirectionStepperMotor.__init__(
self,
enable_channel=enable_channel,
backlash=backlash,
direction=direction,
tasks=((tasks if tasks is not None else []) +
[self.direction_task]))
def __init__(
self,
step_channel,
counter_channel,
direction_channel,
log_file=None,
enable_channel=None,
step_rate=500.0,
backlash=0,
tasks=None
):
self.step_task = DOTask()
self.step_task.createChannel(step_channel)
self.setStepRate(step_rate)
self.step_task.writeState(False)
tasks=(tasks if tasks is not None else []) + [self.step_task]
LoggedStepperMotor.__init__(
self,
counter_channel,
direction_channel,
log_file,
enable_channel,
backlash,
tasks
)
def __init__(self,
step_channel,
counter_channel,
direction_channel,
log_file=None,
enable_channel=None,
step_rate=500.0,
backlash=0,
tasks=None):
self.step_task = DOTask()
self.step_task.createChannel(step_channel)
self.setStepRate(step_rate)
self.step_task.writeState(False)
tasks = (tasks if tasks is not None else []) + [self.step_task]
LoggedStepperMotor.__init__(self, counter_channel, direction_channel,
log_file, enable_channel, backlash, tasks)
class DigitalLineStepperMotor(LoggedStepperMotor):
import threading
def __init__(
self,
step_channel,
counter_channel,
direction_channel,
log_file=None,
enable_channel=None,
step_rate=500.0,
backlash=0,
tasks=None
):
self.step_task = DOTask()
self.step_task.createChannel(step_channel)
self.setStepRate(step_rate)
self.step_task.writeState(False)
tasks=(tasks if tasks is not None else []) + [self.step_task]
LoggedStepperMotor.__init__(
self,
counter_channel,
direction_channel,
log_file,
enable_channel,
backlash,
tasks
)
def run(self,steps,callback):
for i in range(steps):
for state in (True,False):
self.step_task.writeState(state)
sleep(.5 / self.step_rate)
callback()
def _generateSteps(self,steps,callback):
thread = Thread(target=self.run, args=(steps,callback))
thread.start()
# def _generateSteps(self,steps,callback):
# this = self
# class GenerateSteps(Thread):
# def run(self):
# for i in range(steps):
# for state in (True,False):
# this.step_task.writeState(state)
# sleep(.5 / this.step_rate)
# callback()
# GenerateSteps().start()
def setStepRate(self,step_rate): self.step_rate = step_rate
def getStepRate(self): return self.step_rate
def __init__(
self,
enable_channel=None,
tasks=None
):
self.enable_channel = enable_channel
self.enabled = self.DISABLED
if enable_channel is not None:
self.enable_task = DOTask()
self.enable_task.createChannel(enable_channel)
elif enable_channel is None:
self.enable()
tasks = (tasks if tasks is not None else []) + ([self.enable_task] if self.enable_channel is not None else [])
BaseStepperMotor.__init__(
self,
tasks=tasks
)
def __init__(
self,
direction_channel,
enable_channel=None,
backlash=0,
direction=DirectionStepperMotor.FORWARDS,
tasks=None
):
self.direction_task = DOTask()
self.direction_task.createChannel(direction_channel)
DirectionStepperMotor.__init__(
self,
enable_channel=enable_channel,
backlash=backlash,
direction=direction,
tasks = ((tasks if tasks is not None else []) + [self.direction_task])
)
class DigitalLineStepperMotor(LoggedStepperMotor):
import threading
def __init__(self,
step_channel,
counter_channel,
direction_channel,
log_file=None,
enable_channel=None,
step_rate=500.0,
backlash=0,
tasks=None):
self.step_task = DOTask()
self.step_task.createChannel(step_channel)
self.setStepRate(step_rate)
self.step_task.writeState(False)
tasks = (tasks if tasks is not None else []) + [self.step_task]
LoggedStepperMotor.__init__(self, counter_channel, direction_channel,
log_file, enable_channel, backlash, tasks)
def run(self, steps, callback):
for i in range(steps):
for state in (True, False):
self.step_task.writeState(state)
sleep(.5 / self.step_rate)
callback()
def _generateSteps(self, steps, callback):
thread = Thread(target=self.run, args=(steps, callback))
thread.start()
# def _generateSteps(self,steps,callback):
# this = self
# class GenerateSteps(Thread):
# def run(self):
# for i in range(steps):
# for state in (True,False):
# this.step_task.writeState(state)
# sleep(.5 / this.step_rate)
# callback()
# GenerateSteps().start()
def setStepRate(self, step_rate):
self.step_rate = step_rate
def getStepRate(self):
return self.step_rate
class EnabledStepperMotor(BaseStepperMotor):
ENABLED = 1
DISABLED = 0
def __init__(
self,
enable_channel=None,
tasks=None
):
self.enable_channel = enable_channel
self.enabled = self.DISABLED
if enable_channel is not None:
self.enable_task = DOTask()
self.enable_task.createChannel(enable_channel)
elif enable_channel is None:
self.enable()
tasks = (tasks if tasks is not None else []) + ([self.enable_task] if self.enable_channel is not None else [])
BaseStepperMotor.__init__(
self,
tasks=tasks
)
def getEnableStatus(self):
enb_str = {self.ENABLED:'enabled',self.DISABLED:'disabled'}[self._getEnableStatus()]
return enb_str
def enable(self):
self._setEnableStatus(self.ENABLED)
def disable(self):
self._setEnableStatus(self.DISABLED)
def toggleStatus(self):
if self._getEnableStatus() == self.ENABLED: self.disable()
elif self._getEnableStatus() == self.DISABLED: self.enable()
def _getEnableStatus(self):
return self.enabled
def _setEnableStatus(self,state):
if self.enable_channel is None:
self.enabled = True
return
elif self.enable_channel is not None:
self.enable_task.writeState(
{
self.ENABLED:True,
self.DISABLED:False
}[state]
)
self.enabled = state
def _setPosition(self,position,callback):
if self._getEnableStatus() == self.ENABLED:
BaseStepperMotor._setPosition(self,position,callback)
else:
print 'not enabled!'
def destroy(self):
self.disable()
BaseStepperMotor.destroy(self)
