class LinearMotor(Motor):
"""A linear motor that moves in two directions."""
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, -1 * q.mm)
super(LinearMotor, self).__init__(calibration)
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
self._home()
self._steps = 0
def _get_position(self):
return self._steps
def _set_position(self, steps):
self._connection.send('lin %i\r\n' % steps)
self._connection.recv()
self._steps = steps
def _stop(self):
pass
def _home(self):
self._set_position(0)
class LinearMotor(Motor):
"""A linear motor that moves in two directions."""
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, -1 * q.mm)
super(LinearMotor, self).__init__(calibration)
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
self._home()
self._steps = 0
def _get_position(self):
return self._steps
def _set_position(self, steps):
self._connection.send('lin %i\r\n' % steps)
self._connection.recv()
self._steps = steps
def _stop(self):
pass
def _home(self):
self._set_position(0)
class RotationMotor(Motor):
"""A rotational motor."""
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, 0 * q.mm)
super(RotationMotor, self).__init__(calibration)
self._steps = 0
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
def _get_position(self):
return self._steps
def _set_position(self, steps):
self._steps = steps
self._connection.send('rot %i\r\n' % steps)
self._connection.recv()
def _stop(self):
pass
class RotationMotor(Motor):
"""A rotational motor."""
def __init__(self):
calibration = LinearCalibration(50000 / q.mm, 0 * q.mm)
super(RotationMotor, self).__init__(calibration)
self._steps = 0
self._connection = SocketConnection(CRIO_HOST, CRIO_PORT)
self['position'].limiter = lambda x: x >= 0 * q.mm and x <= 2 * q.mm
def _get_position(self):
return self._steps
def _set_position(self, steps):
self._steps = steps
self._connection.send('rot %i\r\n' % steps)
self._connection.recv()
def _stop(self):
pass
