forked from M-Labs/artiq
thorlabs tdc driver: all moves are now blocking and wait for move to end or be stopped
This commit is contained in:
Yann Sionneau
parent
b05972059e
commit
4d077f50c6
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@ -221,10 +221,10 @@ class Tcube:
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def handle_message(self, msg):
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pass
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def send_request(self, msgreq_id, msgget_id, param1=0, param2=0):
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Message(msgreq_id, param1, param2).send(self.port)
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def send_request(self, msgreq_id, wait_for_msgs, param1=0, param2=0, data=None):
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Message(msgreq_id, param1, param2, data=data).send(self.port)
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msg = msg_id = None
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while msg is None or msg_id != msgget_id:
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while msg is None or msg_id not in wait_for_msgs:
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msg = Message.recv(self.port)
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self.handle_message(msg)
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msg_id = msg.id
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@ -247,7 +247,7 @@ class Tcube:
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def get_channel_enable_state(self):
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get_msg = self.send_request(MGMSG.MOD_REQ_CHANENABLESTATE,
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MGMSG.MOD_GET_CHANENABLESTATE, 1)
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[MGMSG.MOD_GET_CHANENABLESTATE], 1)
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self.chan_enabled = get_msg.param2
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if self.chan_enabled == 1:
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self.chan_enabled = True
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@ -286,7 +286,7 @@ class Tcube:
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def hardware_request_information(self):
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return self.send_request(MGMSG.HW_REQ_INFO,
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MGMSG.HW_GET_INFO)
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[MGMSG.HW_GET_INFO])
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def is_channel_enabled(self):
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return self.chan_enabled
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@ -355,7 +355,7 @@ class Tpz(Tcube):
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"""
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get_msg = self.send_request(MGMSG.PZ_REQ_POSCONTROLMODE,
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MGMSG.PZ_GET_POSCONTROLMODE, 1)
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[MGMSG.PZ_GET_POSCONTROLMODE], 1)
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return get_msg.param2
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def set_output_volts(self, voltage):
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@ -389,7 +389,7 @@ class Tpz(Tcube):
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"""
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get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTVOLTS,
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MGMSG.PZ_GET_OUTPUTVOLTS, 1)
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[MGMSG.PZ_GET_OUTPUTVOLTS], 1)
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return st.unpack("<H", get_msg.data[2:])[0]*self.voltage_limit*V/32767
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def set_output_position(self, position_sw):
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@ -417,7 +417,7 @@ class Tpz(Tcube):
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"""
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get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTPOS,
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MGMSG.PZ_GET_OUTPUTPOS, 1)
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[MGMSG.PZ_GET_OUTPUTPOS], 1)
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return st.unpack("<H", get_msg.data[2:])[0]
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def set_input_volts_source(self, volt_src):
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@ -459,7 +459,7 @@ class Tpz(Tcube):
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"""
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get_msg = self.send_request(MGMSG.PZ_REQ_INPUTVOLTSSRC,
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MGMSG.PZ_GET_INPUTVOLTSSRC, 1)
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[MGMSG.PZ_GET_INPUTVOLTSSRC], 1)
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return st.unpack("<H", get_msg.data[2:])[0]
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def set_pi_constants(self, prop_const, int_const):
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@ -488,7 +488,7 @@ class Tpz(Tcube):
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"""
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get_msg = self.send_request(MGMSG.PZ_REQ_PICONSTS,
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MGMSG.PZ_GET_PICONSTS, 1)
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[MGMSG.PZ_GET_PICONSTS], 1)
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return st.unpack("<HH", get_msg.data[2:])
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def set_output_lut(self, lut_index, output):
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@ -546,7 +546,7 @@ class Tpz(Tcube):
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"""
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get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTLUT,
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MGMSG.PZ_GET_OUTPUTLUT, 1)
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[MGMSG.PZ_GET_OUTPUTLUT], 1)
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(index, output) = st.unpack("<Hh", get_msg.data[2:])
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return index, output*self.voltage_limit*V/32767
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@ -626,7 +626,7 @@ class Tpz(Tcube):
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"""
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get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTLUTPARAMS,
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MGMSG.PZ_GET_OUTPUTLUTPARAMS, 1)
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[MGMSG.PZ_GET_OUTPUTLUTPARAMS], 1)
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return st.unpack("<HHLLLL", get_msg.data[2:22])
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def start_lut_output(self):
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@ -669,7 +669,7 @@ class Tpz(Tcube):
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"""
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get_msg = self.send_request(MGMSG.PZ_REQ_TPZ_DISPSETTINGS,
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MGMSG.PZ_GET_TPZ_DISPSETTINGS, 1)
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[MGMSG.PZ_GET_TPZ_DISPSETTINGS], 1)
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return st.unpack("<H", get_msg.data)[0]
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def set_tpz_io_settings(self, voltage_limit, hub_analog_input):
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@ -731,7 +731,7 @@ class Tpz(Tcube):
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"""
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get_msg = self.send_request(MGMSG.PZ_REQ_TPZ_IOSETTINGS,
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MGMSG.PZ_GET_TPZ_IOSETTINGS, 1)
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[MGMSG.PZ_GET_TPZ_IOSETTINGS], 1)
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voltage_limit, hub_analog_input = st.unpack("<HH", get_msg.data[2:6])
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if voltage_limit == 1:
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voltage_limit = 75*V
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@ -763,8 +763,6 @@ class Tdc(Tcube):
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raise MsgError("Hardware error {}: {}"
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.format(code,
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data[4:].decode(encoding="ascii")))
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elif msg_id == MGMSG.MOT_MOVE_HOMED:
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pass
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elif (msg_id == MGMSG.MOT_MOVE_COMPLETED or
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msg_id == MGMSG.MOT_MOVE_STOPPED or
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msg_id == MGMSG.MOT_GET_DCSTATUSUPDATE):
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@ -777,6 +775,10 @@ class Tdc(Tcube):
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(self.position, self.velocity, r, self.status) = st.unpack(
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"<LHHL", data[2:])
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def is_moving(self):
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status_bits = self.get_status_bits()
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return (status_bits & 0x2F0) != 0
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def set_pot_parameters(self, zero_wnd, vel1, wnd1, vel2, wnd2, vel3,
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wnd3, vel4):
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"""Set pot parameters.
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@ -811,12 +813,12 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_POTPARAMS,
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MGMSG.MOT_GET_POTPARAMS, 1)
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[MGMSG.MOT_GET_POTPARAMS], 1)
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return st.unpack("<HLHLHLHL", get_msg.data[2:])
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def hub_get_bay_used(self):
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get_msg = self.send_request(MGMSG.HUB_REQ_BAYUSED,
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MGMSG.HUB_GET_BAYUSED)
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[MGMSG.HUB_GET_BAYUSED])
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return get_msg.param1
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def set_position_counter(self, position):
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@ -841,7 +843,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_POSCOUNTER,
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MGMSG.MOT_GET_POSCOUNTER, 1)
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[MGMSG.MOT_GET_POSCOUNTER], 1)
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return st.unpack("<l", get_msg.data[2:])[0]
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def set_encoder_counter(self, encoder_count):
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@ -865,7 +867,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_ENCCOUNTER,
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MGMSG.MOT_GET_ENCCOUNTER, 1)
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[MGMSG.MOT_GET_ENCCOUNTER], 1)
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return st.unpack("<l", get_msg.data[2:])[0]
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def set_velocity_parameters(self, acceleration, max_velocity):
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@ -886,7 +888,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_VELPARAMS,
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MGMSG.MOT_GET_VELPARAMS, 1)
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[MGMSG.MOT_GET_VELPARAMS], 1)
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return st.unpack("<LL", get_msg.data[6:])
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def set_jog_parameters(self, mode, step_size, acceleration,
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@ -915,7 +917,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_JOGPARAMS,
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MGMSG.MOT_GET_JOGPARAMS, 1)
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[MGMSG.MOT_GET_JOGPARAMS], 1)
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(jog_mode, step_size, _, acceleration, max_velocity,
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stop_mode) = st.unpack("<HLLLLH", get_msg.data[2:])
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return jog_mode, step_size, acceleration, max_velocity, stop_mode
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@ -938,7 +940,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_GENMOVEPARAMS,
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MGMSG.MOT_GET_GENMOVEPARAMS, 1)
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[MGMSG.MOT_GET_GENMOVEPARAMS], 1)
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return st.unpack("<l", get_msg.data[2:])[0]
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def set_move_relative_parameters(self, relative_distance):
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@ -960,7 +962,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_MOVERELPARAMS,
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MGMSG.MOT_GET_MOVERELPARAMS, 1)
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[MGMSG.MOT_GET_MOVERELPARAMS], 1)
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return st.unpack("<l", get_msg.data[2:])[0]
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def set_move_absolute_parameters(self, absolute_position):
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@ -982,7 +984,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_MOVEABSPARAMS,
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MGMSG.MOT_GET_MOVEABSPARAMS, 1)
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[MGMSG.MOT_GET_MOVEABSPARAMS], 1)
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return st.unpack("<l", get_msg.data[2:])[0]
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def set_home_parameters(self, home_velocity):
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@ -1002,17 +1004,17 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_HOMEPARAMS,
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MGMSG.MOT_GET_HOMEPARAMS, 1)
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[MGMSG.MOT_GET_HOMEPARAMS], 1)
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return st.unpack("<L", get_msg.data[6:10])[0]
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def move_home(self):
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"""Start a home move sequence.
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This call is blocking until device is homed.
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This call is blocking until device is homed or move is stopped.
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"""
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self.send_request(MGMSG.MOT_MOVE_HOME,
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MGMSG.MOT_MOVE_HOMED, 1)
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[MGMSG.MOT_MOVE_HOMED, MGMSG.MOT_MOVE_STOPPED], 1)
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def set_limit_switch_parameters(self, cw_hw_limit, ccw_hw_limit):
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"""Set the limit switch parameters.
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@ -1057,7 +1059,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_LIMSWITCHPARAMS,
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MGMSG.MOT_GET_LIMSWITCHPARAMS, 1)
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[MGMSG.MOT_GET_LIMSWITCHPARAMS], 1)
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return st.unpack("<HH", get_msg.data[2:6])
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def move_relative_memory(self):
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@ -1069,7 +1071,8 @@ class Tdc(Tcube):
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command.
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"""
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self.send(Message(MGMSG.MOT_MOVE_RELATIVE, param1=1))
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self.send_request(MGMSG.MOT_MOVE_RELATIVE,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED], 1)
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def move_relative(self, relative_distance):
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"""Start a relative move
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@ -1079,7 +1082,9 @@ class Tdc(Tcube):
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"""
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payload = st.pack("<Hl", 1, relative_distance)
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self.send(Message(MGMSG.MOT_MOVE_RELATIVE, data=payload))
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self.send_request(MGMSG.MOT_MOVE_RELATIVE,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
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data=payload)
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def move_absolute_memory(self):
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"""Start an absolute move of distance in the controller's memory.
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@ -1090,7 +1095,9 @@ class Tdc(Tcube):
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command.
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"""
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self.send(Message(MGMSG.MOT_MOVE_ABSOLUTE, param1=1))
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self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
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param1=1)
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def move_absolute(self, absolute_distance):
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"""Start an absolute move.
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@ -1101,21 +1108,19 @@ class Tdc(Tcube):
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"""
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payload = st.pack("<Hl", 1, absolute_distance)
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self.send(Message(MGMSG.MOT_MOVE_ABSOLUTE, data=payload))
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self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
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data=payload)
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def move_jog(self, direction, async=False):
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def move_jog(self, direction):
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"""Start a job move.
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:param direction: The direction to jog. 1 is forward, 2 is backward.
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:param async: If True then the command does not wait for the move to
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finish. If False the command only returns when move is finished.
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"""
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if async:
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self.send_request(MGMSG.MOT_MOVE_JOG,
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MGMSG.MOT_MOVE_COMPLETED, 1, direction)
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else:
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self.send(Message(MGMSG.MOT_MOVE_JOG, param1=1, param2=direction))
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self.send_request(MGMSG.MOT_MOVE_JOG,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
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param1=1, param2=direction)
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def move_velocity(self, direction):
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"""Start a move.
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@ -1134,7 +1139,7 @@ class Tdc(Tcube):
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self.send(Message(MGMSG.MOT_MOVE_VELOCITY, param1=1, param2=direction))
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def move_stop(self, stop_mode, async=False):
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def move_stop(self, stop_mode):
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"""Stop any type of motor move.
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Stops any of those motor move: relative, absolute, homing or move at
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@ -1143,15 +1148,13 @@ class Tdc(Tcube):
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:param stop_mode: The stop mode defines either an immediate (abrupt)
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or profiled stop. Set this byte to 1 to stop immediately, or to 2
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to stop in a controlled (profiled) manner.
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:param async: If set to False, this method will block until motor
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is really stopped. Returns immediately if set to True.
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"""
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if async:
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self.send(Message(MGMSG.MOT_MOVE_STOP, param1=1, param2=stop_mode))
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else:
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if self.is_moving():
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self.send_request(MGMSG.MOT_MOVE_STOP,
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MGMSG.MOT_MOVE_STOPPED, 1, stop_mode)
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[MGMSG.MOT_MOVE_STOPPED,
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MGMSG.MOT_MOVE_COMPLETED],
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1, stop_mode)
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def set_dc_pid_parameters(self, proportional, integral, differential,
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integral_limit, filter_control=0x0F):
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@ -1185,7 +1188,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_DCPIDPARAMS,
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MGMSG.MOT_GET_DCPIDPARAMS, 1)
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[MGMSG.MOT_GET_DCPIDPARAMS], 1)
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return st.unpack("<LLLLH", get_msg.data[2:])
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def set_av_modes(self, mode_bits):
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@ -1212,7 +1215,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_AVMODES,
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MGMSG.MOT_GET_AVMODES, 1)
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[MGMSG.MOT_GET_AVMODES], 1)
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return st.unpack("<H", get_msg.data[2:])[0]
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def set_button_parameters(self, mode, position1, position2):
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@ -1250,7 +1253,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_BUTTONPARAMS,
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MGMSG.MOT_GET_BUTTONPARAMS, 1)
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[MGMSG.MOT_GET_BUTTONPARAMS], 1)
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return st.unpack("<Hll", get_msg.data[2:12])
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def set_eeprom_parameters(self, msg_id):
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@ -1274,7 +1277,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_DCSTATUSUPDATE,
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MGMSG.MOT_GET_DCSTATUSUPDATE, 1)
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[MGMSG.MOT_GET_DCSTATUSUPDATE], 1)
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pos, vel, _, stat = st.unpack("<LHHL", get_msg.data[2:])
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return pos, vel, stat
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@ -1286,7 +1289,7 @@ class Tdc(Tcube):
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"""
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get_msg = self.send_request(MGMSG.MOT_REQ_STATUSBITS,
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MGMSG.MOT_GET_STATUSBITS, 1)
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[MGMSG.MOT_GET_STATUSBITS], 1)
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return st.unpack("<L", get_msg.data[2:])[0]
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def suspend_end_of_move_messages(self):
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