def __init__(self, enable_channel=None, tasks=None):
self.enable_channel = enable_channel
self.enabled = self.DISABLED
if enable_channel is not None:
self.enable_task = DOTask()
self.enable_task.createChannel(enable_channel)
elif enable_channel is None:
self.enable()
tasks = (tasks if tasks is not None else []) + (
[self.enable_task] if self.enable_channel is not None else [])
BaseStepperMotor.__init__(self, tasks=tasks)
def __init__(self,
direction_channel,
enable_channel=None,
backlash=0,
direction=DirectionStepperMotor.FORWARDS,
tasks=None):
self.direction_task = DOTask()
self.direction_task.createChannel(direction_channel)
DirectionStepperMotor.__init__(
self,
enable_channel=enable_channel,
backlash=backlash,
direction=direction,
tasks=((tasks if tasks is not None else []) +
[self.direction_task]))
def __init__(self,
step_channel,
counter_channel,
direction_channel,
log_file=None,
enable_channel=None,
step_rate=500.0,
backlash=0,
tasks=None):
self.step_task = DOTask()
self.step_task.createChannel(step_channel)
self.setStepRate(step_rate)
self.step_task.writeState(False)
tasks = (tasks if tasks is not None else []) + [self.step_task]
LoggedStepperMotor.__init__(self, counter_channel, direction_channel,
log_file, enable_channel, backlash, tasks)