iframe-proxy | Sunbelt Computer Software

197 lines (146 loc) · 4.15 KB
from .commands import Command
class Module(object):
	Represents a single TMCM module present on the bus.
	def __init__( self, bus, address=1 ):
		"""        
		:param bus: 
			A Bus instance that is connected to one or more 
			physical TMCM modules via serial port
		:type  bus: TMCL.Bus
		:param address: 
			Module address. This defaults to 1
		:type  address: int
		self.bus = bus
		self.address = address
	def get_motor( self, axis=0 ):
		Return an interface to a single axis (motor) connected to 
		this module.
		:param axis: 
			Axis ID (defaults to 0)
		:type axis: int
		:return: An interface to the desired axis/motor
		:rtype:  Motor
		return Motor(self.bus, self.address, axis)
class Motor(object):
	RFS_START = 0
	RFS_STOP = 1
	RFS_STATUS = 2
	def __init__( self, bus, address=1, axis=0 ):
		self.bus = bus
		self.module_id = address
		self.motor_id = axis
		self.axis = AxisParameterInterface(self)
	def send( self, cmd, type, motorbank, value ):
		return self.bus.send(self.module_id, cmd, type, motorbank, value)
	def stop( self ):
		self.send(Command.MST, 0, self.motor_id, 0)
	def get_user_var( self, n ):
		reply = self.send(Command.GGP, n, 2, 0)
		return reply.value
	def set_user_var( self, n, value ):
		reply = self.send(Command.SGP, n, 2, value)
		return reply.status
	def rotate_left (self, velocity ):
		reply = self.send(Command.ROL, 0, self.motor_id, velocity)
		return reply.status
	def rotate_right(self, velocity):
		reply = self.send(Command.ROR, 0, self.motor_id, velocity)
		return reply.status
	def move_absolute (self, position):
		reply = self.send(Command.MVP, 0, self.motor_id, position)
		return reply.status
	def move_relative (self, offset):
		reply = self.send(Command.MVP, 1, self.motor_id, offset)
	def run_command( self, cmdIndex ):
		reply = self.send(Command.RUN_APPLICATION, 1, self.motor_id, cmdIndex)
		return reply.status
	def reference_search( self, rfs_type ):
		reply = self.send(Command.RFS, rfs_type, self.motor_id, 99)
		return reply.status
class AxisParameterInterface(object):
	def __init__( self, motor ):
		:param motor:
		:type  motor: Motor
		self.motor = motor
	def get( self, param ):
		reply = self.motor.send(Command.GAP, param, self.motor.motor_id, 0)
		return reply.value
	def set( self, param, value ):
		reply = self.motor.send(Command.SAP, param, self.motor.motor_id, value)
		return reply.status
	def target_position( self ):
		return self.get(0)
	@target_position.setter
	def target_position( self, value ):
		self.set(0, value)
	def actual_position( self ):
		return self.get(1)
	@actual_position.setter
	def actual_position( self, value ):
		self.set(1, value)
	def target_speed( self ):
		return self.get(2)
	@target_speed.setter
	def target_speed( self, value ):
		self.set(2, value)
	def actual_speed( self ):
		return self.get(3)
	def max_positioning_speed( self ):
		return self.get(4)
	@max_positioning_speed.setter
	def max_positioning_speed( self, value ):
		self.set(4, value)
	def max_accelleration( self ):
		return self.get(5)
	@max_accelleration.setter
	def max_accelleration( self, value ):
		self.set(5, value)
	def max_current( self ):
		return self.get(6)
	@max_current.setter
	def max_current( self, value ):
		self.set(6, value)
	def standby_current( self ):
		return self.get(7)
	@standby_current.setter
	def standby_current( self, value ):
		self.set(7, value)
	def target_position_reached( self ):
		return self.get(8)
	def ref_switch_status( self ):
		return self.get(9)
	def right_limit_status( self ):
		return self.get(10)
	def left_limit_status( self ):
		return self.get(11)
	def right_limit_switch_disabled( self ):
		return True if self.get(12) == 1 else False
	@right_limit_switch_disabled.setter
	def right_limit_switch_disabled( self, value ):
		self.set(12, 1 if value else 0)
	def left_limit_switch_disabled( self ):
		return True if self.get(13) == 1 else False
	@left_limit_switch_disabled.setter
	def left_limit_switch_disabled( self, value ):
		self.set(13, 1 if value else 0)
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