def __init__(self, port, baudrate=9600, **kwds):
self.lock = RLock(debug=True)
params = dict(
maximum_current=100,
maximum_acceleration=1000,
maximum_speed=2000,
ramp_divisor=7,
pulse_divisor=3,
standby_current=0,
mixed_decay_threshold=-1,
encoder_prescaler=8192, # causes encoder_position to have exactly the same resolution as the encoder itself
microstep_resolution=5,
fullstep_threshold=0,
stall_detection_threshold=0,
freewheeling=1,
)
for k, v in kwds.items():
if k not in params:
raise NameError("Unknown MFC1 parameter '%s'" % k)
params[k] = v
self.mcm = TMCM140(port, baudrate)
self.mcm.stop_program()
self.mcm.stop()
self.mcm.set_params(**params)
self._target_position = self.mcm['encoder_position']
self.mcm.set_global('gp0', self._target_position)
self._upload_program()
self._move_status = {}
self._last_move_id = -1
def __init__(self, port):
port = SerialDevice.normalizePortName(port)
if port in SutterMPC200.DEVICES:
raise Exception("The port %s is already accessed by another instance of this class. Use getDevice(port) instead.")
SutterMPC200.DEVICES[port] = self
self.lock = RLock()
self.port = port
SerialDevice.__init__(self, port=self.port, baudrate=128000)
self.scale = [0.0625e-6]*3 # default is 16 usteps per micron
self._moving = False
def __init__(self, port, baudrate=9600, **kwds):
self.lock = RLock(debug=True)
# Constant that affects ability to seek to encoder position.
# Low values (~10) cause a very slow approach to the target encoder position.
# High values (~2000) cause the motor to overshoot the target position
self.tracking_const = kwds.pop('tracking_const', 400)
params = dict(
maximum_current=100,
maximum_acceleration=1000,
maximum_speed=2000,
ramp_divisor=7,
pulse_divisor=3,
standby_current=0,
mixed_decay_threshold=-1,
encoder_prescaler=
8192, # causes encoder_position to have exactly the same resolution as the encoder itself
microstep_resolution=5,
fullstep_threshold=0,
stall_detection_threshold=0,
freewheeling=1,
)
optional_params = [
'mixed_decay_threshold', 'stall_detection_threshold',
'fullstep_threshold'
]
for k, v in kwds.items():
if k not in params:
raise NameError("Unknown MFC1 parameter '%s'" % k)
params[k] = v
self.mcm = TMCM140(port, baudrate)
self.mcm.stop_program()
self.mcm.stop()
for k, v in params.items():
try:
self.mcm.set_param(k, v)
except TMCMError as err:
if err.status == 3 and k in optional_params:
# Some parameters are not supported on all motors; ignore these silently
pass
else:
print(k, v)
raise
self._target_position = self.mcm['encoder_position']
self.mcm.set_global('gp0', self._target_position)
self._upload_program()
self._move_status = {}
self._last_move_id = -1
def __init__(self, port, baudrate=9600, module_addr=1):
"""
port: serial COM port (eg. COM3 or /dev/ttyACM0)
baudrate: 9600 by default
module_addr: 1 by default
"""
self.lock = RLock(debug=True)
self.port = port
assert isinstance(module_addr, int)
assert module_addr > 0
self.module_addr = module_addr
self.module_str = chr(module_addr + 64)
self._waiting_for_reply = False
SerialDevice.__init__(self, port=self.port, baudrate=baudrate)
def __init__(self, port=None, name=None, baudrate=None):
self.lock = RLock()
if name is not None:
assert port is None, "May not specify both name and port."
if self.availableDevices is None:
self.enumerateDevices()
if name not in self.availableDevices:
raise ValueError(
'Could not find Scientifica device with description "%s". Options are: %s'
% (name, list(self.availableDevices.keys())))
port = self.availableDevices[name]
if port is None:
raise ValueError("Must specify either name or port.")
self.port = self.normalizePortName(port)
if self.port in self.openDevices:
raise RuntimeError("Port %s is already in use by %s" %
(port, self.openDevices[self.port]))
# try both baudrates, regardless of the requested rate
# (but try the requested rate first)
baudrate = 9600 if baudrate is None else int(baudrate)
if baudrate == 9600:
baudrates = [9600, 38400]
elif baudrate == 38400:
baudrates = [38400, 9600]
else:
raise ValueError('invalid baudrate %s' % baudrate)
connected = False
for baudrate in baudrates:
try:
SerialDevice.__init__(self, port=self.port, baudrate=baudrate)
self.write('type\r')
self.readUntil('\r', timeout=1)
connected = True
break
except TimeoutError:
pass
if not connected:
raise RuntimeError(
"No response received from Scientifica device at %s. (tried baud rates: %s)"
% (port, ', '.join(map(str, baudrates))))
Scientifica.openDevices[self.port] = self
self._readAxisScale()
def __init__(self, port=None, name=None, baudrate=None, ctrl_version=2):
self.lock = RLock()
if name is not None:
if isinstance(name, str):
name = name.encode()
assert port is None, "May not specify both name and port."
if self.availableDevices is None:
self.enumerateDevices()
if name not in self.availableDevices:
raise ValueError('Could not find Scientifica device with description "%s". Options are: %s' %
(name, list(self.availableDevices.keys())))
port = self.availableDevices[name]
if port is None:
raise ValueError("Must specify either name or port.")
self.port = self.normalizePortName(port)
if self.port in self.openDevices:
raise RuntimeError("Port %s is already in use by %s" % (port, self.openDevices[self.port]))
# try both baudrates, regardless of the requested rate
# (but try the requested rate first)
baudrate = 9600 if baudrate is None else int(baudrate)
if baudrate == 9600:
baudrates = [9600, 38400]
elif baudrate == 38400:
baudrates = [38400, 9600]
else:
raise ValueError('invalid baudrate %s' % baudrate)
# Attempt connection
connected = False
for baudrate in baudrates:
try:
SerialDevice.__init__(self, port=self.port, baudrate=baudrate)
try:
sci = self.send('scientifica', timeout=0.2)
except RuntimeError:
# try again because prior communication at a different baud rate may have garbled serial communication.
sci = self.send('scientifica', timeout=1.0)
if sci != b'Y519':
# Device responded, not scientifica.
raise ValueError("Received unexpected response from device at %s. (Is this a scientifica device?)" % port)
connected = True
break
except TimeoutError:
pass
if not connected:
raise RuntimeError("No response received from Scientifica device at %s. (tried baud rates: %s)" % (port, ', '.join(map(str, baudrates))))
Scientifica.openDevices[self.port] = self
self._version = float(self.send('ver'))
if ctrl_version is not None and ((self._version >= 3) != (ctrl_version >= 3)):
name = self.getDescription()
err = RuntimeError("Scientifica device %s uses controller version %s, but version %s was requested. Warning: speed and acceleration"
" parameter values are NOT compatible between controller versions." % (name, self._version, ctrl_version))
err.dev_version = self._version
raise err
self._readAxisScale()