def __init__(self, number, config, machine):
"""Initialise stepper."""
self.config = config
self.log = logging.getLogger('TIC Stepper')
self.log.debug("Configuring Stepper Parameters.")
self.serial_number = number
self.tic = PololuTiccmdWrapper(self.serial_number, machine, False)
self.machine = machine
self._position = None
self._watchdog_task = None
if self.config['step_mode'] not in [1, 2, 4, 8, 16, 32]:
raise ConfigFileError("step_mode must be one of (1, 2, 4, 8, 16, or 32)", 1, self.log.name)
if self.config['max_speed'] <= 0:
raise ConfigFileError("max_speed must be greater than 0", 2, self.log.name)
if self.config['max_speed'] > 500000000:
raise ConfigFileError("max_speed must be less than or equal to 500,000,000", 3, self.log.name)
def __init__(self, number, config, platform):
"""Initialise stepper."""
self.config = config
self.log = logging.getLogger('TIC Stepper')
self.log.debug("Configuring Stepper Parameters.")
self.serial_number = number
self.tic = PololuTiccmdWrapper(self.serial_number, platform.machine, False)
self.machine = platform.machine # type: MachineController
self.platform = platform
self._position = None
self._watchdog_task = None
self._poll_task = None
self._move_complete = asyncio.Event()
self._switch_state = {}
if self.config['step_mode'] not in [1, 2, 4, 8, 16, 32]:
raise ConfigFileError("step_mode must be one of (1, 2, 4, 8, 16, or 32)", 1, self.log.name)
if self.config['max_speed'] <= 0:
raise ConfigFileError("max_speed must be greater than 0", 2, self.log.name)
if self.config['max_speed'] > 500000000:
raise ConfigFileError("max_speed must be less than or equal to 500,000,000", 3, self.log.name)