def get_messages_ftdi(self):
l = self.device.getQueueStatus()
if l > 0:
s = self.device.read(self.device.getQueueStatus())
response = Message(s)
response.parse()
return response
def get_messages_serial(self):
l = self.device.inWaiting()
if l > 0:
s = self.device.read(self.device.inWaiting())
response = Message(s)
response.parse()
return response
def mod_req_chanenablestate(self, value):
request = Message.build(md.message.MOD_REQ_CHANENABLESTATE,
dest=self.dest,
param1=self.channel,
param2=value)
response = self.controller.send_message_receive_response(request)
return response
def mot_move_stop(self, blocking=True):
request = Message.build(md.message.MOT_MOVE_STOP, dest=self.dest)
self.controller.send_message(request)
if blocking:
received = False
while not received:
response = self.controller.get_messages()
if response is not None:
if response.msg_id == 'MOT_MOVE_STOPPED':
received = True
time.sleep(.05)
print(response.msg_id)
return response
def mot_move_absolute(self, data, blocking=True):
request = Message.build(md.message.MOT_MOVE_ABSOLUTE,
dest=self.dest,
data=data)
self.controller.send_message(request)
if blocking:
received = False
while not received:
response = self.controller.get_messages()
if response is not None:
if response.msg_id == 'MOT_MOVE_COMPLETED':
received = True
time.sleep(.05)
print(response.msg_id)
return response
def mot_move_velocity(self):
request = Message.build(md.message.MOT_MOVE_VELOCITY, dest=self.dest)
self.controller.send_message(request)
def mot_req_statusupdate(self):
request = Message.build(md.message.MOT_REQ_STATUSUPDATE,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
def mot_req_pmdsettledcurrentloopparams(self):
request = Message.build(md.message.MOT_REQ_PMDSETTLEDCURRENTLOOPPARAMS,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
def mot_req_pmdjoystickparams(self):
request = Message.build(md.message.MOT_REQ_PMDJOYSTICKPARAMS,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
def mot_req_pmdprofilemodeparams(self):
request = Message.build(md.message.MOT_REQ_PMDPROFILEMODEPARAMS,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
def mot_req_pmdmotoroutputparams(self):
request = Message.build(md.message.MOT_REQ_PMDMOTOROUTPUTPARAMS,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
def mot_req_pmdpositionloopparams(self):
request = Message.build(md.message.MOT_REQ_PMDPOSITIONLOOPPARAMS,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
def mot_req_dcpidparams(self):
request = Message.build(md.message.MOT_REQ_DCPIDPARAMS,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
def mot_req_limswitchparams(self):
request = Message.build(md.message.MOT_REQ_LIMSWITCHPARAMS,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
def info(self):
request = Message.build(md.message.HW_REQ_INFO, dest=self.dest)
response = self.controller.send_message_receive_response(request)
return response
def mot_req_poscounter(self):
request = Message.build(md.message.MOT_REQ_POSCOUNTER,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
def mot_req_pmdtracksettleparams(self):
request = Message.build(md.message.MOT_REQ_PMDTRACKSETTLEPARAMS,
dest=self.dest,
param1=self.channel)
response = self.controller.send_message_receive_response(request)
return response
