def force_stop(self):
message = PacketFactory.force_stop()
response = self.serial_controller.send_request(message)
if (response.data):
self.set_running(False)
self.step_request_lock.acquire()
self.step_request_lock.release()
return response
def step(self, target_pos=0):
if self.is_running():
raise StepperExecutionException("Stepper is already running")
self.set_running(True)
message = PacketFactory.step_request(target_pos)
response = self.serial_controller.send_request(message)
if response.status == 10:
self.set_running(True)
raise StepperExecutionException("Stepper is already running")
if response.status == message.status:
self.set_running(False)
self.position = response.data
return response
def get_limit_switch(self, index):
message = PacketFactory.get_limit_switch(index)
response = self.serial_controller.send_request(message)
return response
def set_position(self, position):
self.position = position
message = PacketFactory.set_position(self.position)
self.serial_controller.send_request(message)
def set_switch_time(self, sw_time=None):
if sw_time:
self.switch_time = sw_time
message = PacketFactory.set_step_delay(self.sw_time)
self.serial_controller.send_request(message)
def zero_motor(self):
message = PacketFactory.zero_motor()
return self.serial_controller.send_request(message)
def get_step_delay(self):
message = PacketFactory.get_step_delay()
return self.serial_controller.send_request(message)
def set_step_delay(self, st_time=None):
if (st_time):
self.step_time = st_time
message = PacketFactory.set_step_delay(self.step_time)
return self.serial_controller.send_request(message)
def calibrate(self):
message = PacketFactory.calibration_request()
return self.serial_controller.send_request(message)
def force_stop(self):
message = PacketFactory.force_stop()
response = self.serial_controller.send_request(message)
if (response.data):
self.set_running(False)
return response