def set_position(self, layer_id, cmd_pos, vel):
'''
'''
layer = Layer(layer_id)
layer.cmd_pos = cmd_pos
layer.velocity = vel
layer.cur_pos = self.client.get_motor_cur_pos(layer.name)
steps = cmd_pos - layer.cur_pos
if steps > 0:
layer.direction = 'END_POSITION'
else:
layer.direction = 'INIT_POSITION'
steps = abs(steps)
layer.steps = steps
layer.cur_pos = self.layer_move_skip_sensor(layer_id)
def set_to_zero(self, name, direction, velocity, steps, cur_pos, cmd_pos):
motor = Layer(name)
motor.steps = 0
motor.direction = direction
motor.velocity = velocity
dir_pin = 0
motor.cur_pos = 0
motor.cmd_pos = 0
#print "SET ALL TO ZERO"
#print "name %s" % motor.name
#print "direction %s" % motor.direction
#print "velocity %d" % motor.velocity
#print "steps %d" % motor.steps
#print "cur_pos %d" % motor.cur_pos
#print "cmd_pos %d" % motor.cmd_pos
return 0
def motor_move_skip_sensor(self, name, direction, velocity, steps, cur_pos, cmd_pos):
#print "name %s" % name
#print "direction %s" % direction
#print "velocity %d" % velocity
#print "steps %d" % steps
#print "cur_pos %d" % cur_pos
#print "cmd_pos %d" % cmd_pos
motor = Layer(name)
motor.steps = steps
motor.direction = direction
motor.velocity = velocity
dir_pin = 0
if('INIT_POSITION' in direction):
dir_pin = 1 - motor.pos_dir
else:
dir_pin = motor.pos_dir
# if(dir_pin):
#print 'pin on'
# else:
#print 'pin off'
if(dir_pin):
self.turn_on_gpio(motor.pin_dir)
else:
self.turn_off_gpio(motor.pin_dir)
self.turn_on_gpio(motor.pin_sleep)
s = c_driver.move_motor(steps, motor.pin_step)
self.turn_off_gpio(motor.pin_sleep)
#print sys._getframe().f_code.co_name,
#print ": %s -> %1.2f " % (name, s)
motor.cur_pos = cmd_pos
motor.cmd_pos = cmd_pos
#print "\n\n"
return motor.cur_pos
