def attach_stepper(self, id):
try:
ch = Stepper()
ch.setOnAttachHandler(self.StepperAttached)
ch.setOnDetachHandler(self.StepperDetached)
ch.setOnErrorHandler(self.ErrorEvent)
ch.setOnPositionChangeHandler(self.PositionChangeHandler)
ch.setDeviceSerialNumber(id)
print(id,": Waiting for the Phidget Stepper Object to be attached...")
ch.openWaitForAttachment(5000)
except PhidgetException as e:
print(id, ": Phidget Exception %i: %s" % (e.code, e.details))
exit(1)
print("Engaging the motor %d" % id)
ch.setEngaged(1)
print("Created motor %d" %id)
print("Acceleration Range [%d,%d] : %d" % (ch.getMinAcceleration(), ch.getMaxAcceleration(), ch.getAcceleration()))
print("Velocity Range [%d,%d] : %d" % (ch.getMinVelocityLimit(), ch.getMaxVelocityLimit(), ch.getVelocityLimit()))
#print("Position Range [%d,%d] : %d" % (ch.getMinPosition(), ch.getMaxPosition(), ch.getPosition()))
print("CurrentLimit Range [%d,%d] : %d" % (ch.getMinCurrentLimit(), ch.getMaxCurrentLimit(), ch.getCurrentLimit()))
ch.setCurrentLimit(3)
return ch
class Positioner:
def __init__(self, stepper_sn, debug=False):
self.debug = debug
try:
self.channel = Stepper()
except Exception as e:
print('\x1b[1;31mPhidget::SN::{}\x1b[0m <> {}'.format(
stepper_sn, e))
try:
self.channel.setDeviceSerialNumber(stepper_sn)
self.channel.setIsHubPortDevice(False)
self.channel.setChannel(0)
self.channel.setOnAttachHandler(PhidgetHandlers.on_attach_handler)
self.channel.setOnDetachHandler(PhidgetHandlers.on_detach_handler)
self.channel.setOnErrorHandler(PhidgetHandlers.on_error_handler)
self.channel.setOnPositionChangeHandler(
PhidgetHandlers.on_position_change_handler)
self.channel.openWaitForAttachment(10000)
except PhidgetException as e:
print('\x1b[1;31mPhidget::SN::{}\x1b[0m <> {}'.format(
stepper_sn, e))
def __del__(self):
self.close()
def _get_device_str(self):
return str('\x1b[1;34mPhidget::SN::{}\x1b[0m'.format(
self.channel.getDeviceSerialNumber()))
def close(self):
print('\x1b[1;34mPhidget::SN::{}\x1b[0m > Closing channel {}'.format(
self.channel.getDeviceSerialNumber(), self.channel.getChannel()))
self.channel.close()
def set_acceleration(self, acc):
self.channel.setAcceleration(acc)
def set_target_absolute_position(self, position):
# One full rotation is 2 mm movement along the rail
shaft_conversion = 1 / 2
self.channel.setTargetPosition(position * shaft_conversion)
def wait_to_settle(self):
is_moving = self.channel.getIsMoving()
while is_moving:
time.sleep(0.01)
is_moving = self.channel.getIsMoving()
position = self.channel.getPosition()
print(
'\x1b[1;34mPhidget::SN::{}\x1b[0m < Position {:8.4f}\t<=>\t{:8.4f} mm'
.format(self.channel.getDeviceSerialNumber(), position,
position * 2))
return is_moving
def set_velocity_limit(self, v_lim):
self.channel.setVelocityLimit(v_lim)
def print_movement_info(self):
print('\x1b[1;34mPhidget::SN::{}\x1b[0m < minAcceleration {:8.4f}'.
format(self.channel.getDeviceSerialNumber(),
self.channel.getMinAcceleration()))
print('\x1b[1;34mPhidget::SN::{}\x1b[0m < maxAcceleration {:8.4f}'.
format(self.channel.getDeviceSerialNumber(),
self.channel.getMaxAcceleration()))
print('\x1b[1;34mPhidget::SN::{}\x1b[0m < Acceleration {:8.4f}'.format(
self.channel.getDeviceSerialNumber(),
self.channel.getAcceleration()))
print(
'\x1b[1;34mPhidget::SN::{}\x1b[0m < velocityLimit {:8.4f}'.format(
self.channel.getDeviceSerialNumber(),
self.channel.getVelocityLimit()))
