class PulseGeneratorStepperMotor(LoggedStepperMotor):
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 = COTask()
self.step_task.createChannel(step_channel)
self.setStepRate(step_rate)
LoggedStepperMotor.__init__(
self,
counter_channel,
direction_channel,
log_file,
enable_channel=enable_channel,
backlash=0,
tasks=((tasks if tasks is not None else []) + [self.step_task]))
def _generateSteps(self, steps, callback):
self.step_task.generatePulses(steps, callback)
# set pulse rate in Hz
def setStepRate(self, rate):
self.step_task.configureTiming(0.5 / rate, 0.5 / rate)
def getStepRate(self):
highTime, lowTime = self.step_task.getTimingConfiguration()
period = highTime + lowTime
rate = 1.0 / period
return rate
class PulseGeneratorStepperMotor(LoggedStepperMotor):
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 = COTask()
self.step_task.createChannel(step_channel)
self.setStepRate(step_rate)
LoggedStepperMotor.__init__(
self,
counter_channel,
direction_channel,
log_file,
enable_channel=enable_channel,
backlash=0,
tasks=((tasks if tasks is not None else []) + [self.step_task])
)
def _generateSteps(self,steps,callback):
self.step_task.generatePulses(steps,callback)
# set pulse rate in Hz
def setStepRate(self,rate):
self.step_task.configureTiming(0.5 / rate,0.5 / rate)
def getStepRate(self):
highTime, lowTime = self.step_task.getTimingConfiguration()
period = highTime + lowTime
rate = 1.0 / period
return rate
