def get_setvelocity(self, parameter = 'velocity'):
'''
reads the velocity that is currently set and returns it in rpm
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
rpm = constants.READ_SRPM/constants.RSPPS*pulses
rpm = translations.rounding(rpm)
if self.verbose: print 'The velocity is set at ' + str(rpm) + ' rpm'
return rpm
def get_setvelocity(self, parameter='velocity'):
'''
reads the velocity that is currently set and returns it in rpm
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
rpm = constants.READ_SRPM / constants.RSPPS * pulses
rpm = translations.rounding(rpm)
if self.verbose: print 'The velocity is set at ' + str(rpm) + ' rpm'
return rpm
def get_acceleration(self, parameter = 'acceleration'):
'''
Reads acceleration and returns the value in rpm/s
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
acc = constants.READ_ACC/constants.READ_PPSS*pulses
acc = translations.rounding(acc)
if self.verbose: print 'The acceleration is set at ' + str(acc) + ' rpm/s'
return acc
def get_acceleration(self, parameter='acceleration'):
'''
Reads acceleration and returns the value in rpm/s
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
acc = constants.READ_ACC / constants.READ_PPSS * pulses
acc = translations.rounding(acc)
if self.verbose:
print 'The acceleration is set at ' + str(acc) + ' rpm/s'
return acc
def get_actualvelocity(self, parameter = 'actualvelocity'):
'''
reads the actual velocity that the motor is running and returns it in rpm, will return 0 if mode is set to 0
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
rpm = constants.READ_ARPM/constants.RAPPS*pulses
rpm = translations.rounding(rpm)
if self.verbose:
if rpm == 0:
print 'The motor is running at ' + str(rpm) + ' rpm, make sure the motor is on'
else:
print 'The motor is running at ' + str(rpm) + ' rpm'
return rpm
def get_actualvelocity(self, parameter='actualvelocity'):
'''
reads the actual velocity that the motor is running and returns it in rpm, will return 0 if mode is set to 0
'''
values = self.read(self.address, self.PARAMETER[parameter])
pulses = translations.hextodec(values)
rpm = constants.READ_ARPM / constants.RAPPS * pulses
rpm = translations.rounding(rpm)
if self.verbose:
if rpm == 0:
print 'The motor is running at ' + str(
rpm) + ' rpm, make sure the motor is on'
else:
print 'The motor is running at ' + str(rpm) + ' rpm'
return rpm
