xaxis.debug = True
# Setup the axis with values to start the motor
frequency = xaxis.rpm_to_frequency(rpm=rpm,
steps_per_rev=steps_per_rev,
round_digits=3)
pulse_count = xaxis.calculate_pulse_count(steps_per_rev, total_revolutions)
set_axis_cmd = xaxis.set_axis(frequency=frequency,
pulse_count=pulse_count,
direction=direction,
start_ramp=1,
finish_ramp=1,
ramp_divide=ramp_divide,
ramp_pause=ramp_pause,
enable_line_polarity=1)
xaxis.send_command(set_axis_cmd)
# Get the responses - look for both responses to be returned before continuing
wait_for_responses(xaxis, ["RI01CX*", "CI01CX*"],
"------- Set axis command responses -------")
# Start the motor
xaxis.send_command(xaxis.start())
# Check for both reply and complete responses to be returned
wait_for_responses(xaxis, ["RI01SX*", "CI01SX*"],
"------- Start command responses -------")
# Get the pulse count
xaxis.send_command(xaxis.get_current_pulse_count())
# The response should come back with 3 replies
wait_for_responses(xaxis, ["RI01XP*", "CI01XP*"],
"------- Get pulse count command responses -------")
"""
This is an example of setting up an Axis (motor) and starting it, revving it up to a specified RPM and letting it
run for some time and then shutting it down.
This example does not auto send the commands. It gets the command and then sends it to the send_command method.
"""
from pthat.pthat import Axis
def wait_for_responses(axis, responses_to_check, msg):
responses = axis.get_all_responses()
while not all(x in responses for x in responses_to_check):
responses = responses + axis.get_all_responses()
# Print the responses
print(msg)
axis.parse_responses(responses)
xaxis = Axis("X", command_id=1, serial_device="/dev/ttyS0")
xaxis.debug = True
# Get the firmware version
firmware_version_cmd = xaxis.get_firmware_version()
xaxis.send_command(firmware_version_cmd)
# Show the responses
wait_for_responses(xaxis, ["RI00FW*", "CI00FW*"],
"------- Get firmware version command responses -------")