def home(self):
'''
Puts the motor to backward limit position, so that the
position markers make sense
'''
###
global Home_Counter
Home_Counter += 1
###
self.moving = True
self.logger.debug('Homing...', extra=self.ext)
# save that change with < MGMSG_MOT_SET_EEPROMPARAMS >
self.ser.write(hexString('B9 04 04 00 D0 01'))
self.ser.write(hexString('01 00')) # chanel id
self.ser.write(
hexString('FE 04')) # the specific message we want to save
# call < MGMSG_MOT_SET_TSTACTUATORTYPE > first
# to specify that we are using the ZFS 13mm actuator => 0x41
# FE, 04, 41, 00, 50, 01
self.ser.write(hexString('FE 04 41 00 50 01'))
# home motor on the correct limit switch
# < MGMSG_MOT_REQ_HOMEPARAMS >
self.ser.write(hexString('41 04 01 00 50 01'))
home_response = self.ser.read(20)
if home_response[0:2] != hexString('42 04'):
self.logger.error(
'problem reading data from controller while homing',
extra=self.ext)
exit()
# < MGMSG_MOT_SET_HOMEPARAMS >
self.ser.write(hexString('40 04 0E 00 D0 01')) # header
self.ser.write(hexString('01 00')) # chan-ident
self.ser.write(int2hexStr(1, 2)) # Home Dir
self.ser.write(int2hexStr(1, 2)) # Limit Switch
self.ser.write(home_response[12:16]) # Home Velocity
self.ser.write(home_response[16:20]) # Offset Distance
# MGMSG_MOT_MOVE_HOME
self.ser.write(hexString('43 04 01 00 50 01'))
self.ser.reset_input_buffer()
response = self.ser.read(6)
if response != hexString('44 04 01 00 01 50'): # MGMSG_MOT_MOVE_HOMED
self.logger.error('problem homing', extra=self.ext)
exit()
self.logger.info('homed successfully.', extra=self.ext)
self.moving = False
def home(self):
'''
Puts the motor to backward limit position, so that the
position markers make sense
'''
# NOTE: Might need to call < MGMSG_MOT_SET_TSTACTUATORTYPE > first
self.moving = True
# MGMSG_MOT_MOVE_HOME
self.ser.write(hexString('43 04 01 00 50 01'))
self.ser.reset_input_buffer()
response = self.ser.read(6)
if response != hexString('44 04 01 00 01 50'): # MGMSG_MOT_MOVE_HOMED
self.logger.error('problem homing', extra=self.ext)
exit()
self.logger.info('homed successfully.', extra=self.ext)
self.moving = False
def get_info(self):
'''
Get information back form the controller
Used for debugging purposes
'''
# MGMSG_HW_REQ_INFO
self.ser.write(hexString('05 00 00 00 50 01'))
response = self.ser.read(90)
print response
def _set_backlash(self, backlash_distance):
'''
Set the backlash correction distance for backwards motor
movement
backlash_distance (int): in encoder steps
'''
# change backlash value
self.ser.write(hexString('3A 04 06 00 D0 01')) # header
self.ser.write(hexString('01 00')) # chanel id
self.ser.write(int2hexStr(backlash_distance, 4)) # backlash dist
# request backlash data
self.ser.write(hexString('3B 04 01 00 50 01'))
# confirm backlash distance value
res = self.ser.read(12)
back_dist_r = unpack('<l', res[8:12])[0]
if back_dist_r != backlash_distance:
self.logger.error('Problem setting backlash distance [{}]'.format(
backlash_distance),
extra=self.ext)