def move(self, device_number, position):
device = zaber.BinaryDevice(self.port, device_number)
device.move_abs(position)
deadline = monotonic() + TIMEOUT
while device.get_position() != position:
if monotonic() > deadline:
msg = "Device did not move to requested position within timeout"
raise TimeoutError(msg)
def __init__(self):
self.port = zs.BinarySerial("COM11",
timeout=20,
inter_char_timeout=0.05)
self.device = zs.BinaryDevice(self.port, 1)
self.device.home()
self.device.send(37, 64)
"""
def read_motor_position(comport):
if usedummyzaber:
print('dummy zaber reading position')
variables_motor = {
'LickPort_Lateral_pos': 1,
'LickPort_RostroCaudal_pos': 1,
}
return variables_motor
else:
for zabertry_i in range(
0, 1000): # when the COMport is occupied, it will try again
try:
with zaber_serial.BinarySerial(comport) as ser:
Forward_Backward_device = zaber_serial.BinaryDevice(ser, 1)
Left_Right_device = zaber_serial.BinaryDevice(ser, 2)
for zabertry_i in range(
0, 1000
): # when the COMport is occupied, it will try again
try:
pos_Forward_Backward = Forward_Backward_device.get_position(
)
break
except:
print('unexpected zaber reply try again')
for zabertry_i in range(
0, 1000
): # when the COMport is occupied, it will try again
try:
pos_Left_Right = Left_Right_device.get_position()
break
except:
print('unexpected zaber reply try again')
variables_motor = {
'LickPort_Lateral_pos': pos_Left_Right,
'LickPort_RostroCaudal_pos': pos_Forward_Backward,
}
return variables_motor
break
except zaber_serial.binaryserial.serial.SerialException:
print('can' 't access Zaber ' + str(zabertry_i))
time.sleep(.01)
def zaber_refresh(self):
for zabertry_i in range(
0, 1000): # when the COMport is occupied, it will try again
try:
with zaber_serial.BinarySerial(
variables['comport_motor']) as ser:
Forward_Backward_device = zaber_serial.BinaryDevice(ser, 1)
Left_Right_device = zaber_serial.BinaryDevice(ser, 2)
pos_Forward_Backward = Forward_Backward_device.get_position(
)
pos_Left_Right = Left_Right_device.get_position()
getspeed_cmd = zaber_serial.BinaryCommand(1, 53, 42)
ser.write(getspeed_cmd)
speed1 = ser.read()
getspeed_cmd = zaber_serial.BinaryCommand(2, 53, 42)
ser.write(getspeed_cmd)
speed2 = ser.read()
getacc_cmd = zaber_serial.BinaryCommand(1, 53, 43)
ser.write(getacc_cmd)
acc1 = ser.read()
getacc_cmd = zaber_serial.BinaryCommand(2, 53, 43)
ser.write(getacc_cmd)
acc2 = ser.read()
self.handles['motor_COMport_edit'].setText(
variables['comport_motor'])
self.handles['motor_RC_edit'].setText(
str(pos_Forward_Backward))
self.handles['motor_LAT_edit'].setText(str(pos_Left_Right))
self.handles['motor_RC_speed_edit'].setText(str(speed1.data))
self.handles['motor_LAT_speed_edit'].setText(str(speed2.data))
self.handles['motor_RC_acceleration_edit'].setText(
str(acc1.data))
self.handles['motor_LAT_acceleration_edit'].setText(
str(acc2.data))
break
except zaber_serial.binaryserial.serial.SerialException:
print('can' 't access Zaber ' + str(zabertry_i))
time.sleep(.01)
def get_position(self, device_number):
device = zaber.BinaryDevice(self.port, device_number)
return device.get_position()
import zaber.serial as zs
import time
"""
small program to communitcate with zabor motor. Decent documentation at
http://www.zaber.com/support/docs/api/core-python/0.8.1/binary.html/
Other motor functions can be performed using the send function with
an instruction command number. These can be located at
https://www.zaber.com/wiki/Manuals/Binary_Protocol_Manual#Quick_Command_Reference
"""
#open port for communication
port = zs.BinarySerial("COM11", timeout=20, inter_char_timeout=0.05)
#connect to specific device
device = zs.BinaryDevice(port, 1)
def slice_routine(start_pos, end_pos, num_steps):
device.move_abs(start_pos)
step_size = (end_pos - start_pos) // num_steps
for i in range(num_steps):
device.move_rel(step_size)
frog = device.send(60, 0)
print(frog)
#find location of motor on rails - uses send functions with quick command number
reply = device.send(60, 0)
print reply.data
# device.home()
device.move_rel(0)