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Bliss
bliss
Commits
d54f7b27
Commit
d54f7b27
authored
May 10, 2021
by
Cyril Guilloud
Browse files
Merge branch '1389-user-message' into 'master'
Resolve "user message" Closes
#1389
See merge request
!3683
parents
028e3d7f
b0545a98
Pipeline
#46600
passed with stages
in 95 minutes and 53 seconds
Changes
3
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
bliss/common/axis.py
View file @
d54f7b27
...
...
@@ -1268,7 +1268,7 @@ class Axis(Scannable):
@
velocity
.
setter
@
lazy_init
def
velocity
(
self
,
new_velocity
):
# Write -> Converts into motor units to change velocity of axis.
"
# Write -> Converts into motor units to change velocity of axis.
new_velocity
=
float
(
new_velocity
)
# accepts both float or numpy array of 1 element
...
...
@@ -1296,6 +1296,9 @@ class Axis(Scannable):
f
"Controller velocity (
{
_user_vel
}
) is different from set velocity (
{
new_velocity
}
)"
,
)
curr_vel
=
self
.
settings
.
get
(
"velocity"
)
if
curr_vel
!=
_user_vel
:
user_print
(
f
"'
{
self
.
name
}
` velocity changed from
{
curr_vel
}
to
{
_user_vel
}
"
)
self
.
settings
.
set
(
"velocity"
,
_user_vel
)
return
_user_vel
...
...
@@ -1494,6 +1497,11 @@ class Axis(Scannable):
self
.
__controller
.
set_acceleration
(
self
,
new_acc
*
abs
(
self
.
steps_per_unit
))
_ctrl_acc
=
self
.
__controller
.
read_acceleration
(
self
)
_acceleration
=
_ctrl_acc
/
abs
(
self
.
steps_per_unit
)
curr_acc
=
self
.
settings
.
get
(
"acceleration"
)
if
curr_acc
!=
_acceleration
:
user_print
(
f
"'
{
self
.
name
}
` acceleration changed from
{
curr_acc
}
to
{
_acceleration
}
"
)
self
.
settings
.
set
(
"acceleration"
,
_acceleration
)
return
_acceleration
...
...
doc/docs/bliss_motion_control_basics.md
View file @
d54f7b27
...
...
@@ -66,6 +66,7 @@ DEMO [11]: mot1.velocity ⏎ # to READ the velocity
Out
[
11
]:
1.25
DEMO
[
12
]:
mot1
.
velocity
=
3.0
⏎
# to SET a new velocity
'mot1` velocity changed from 1.25 to 3.0
DEMO [13]:
DEMO [14]: mot1.velocity ⏎
...
...
@@ -128,7 +129,8 @@ position in user units. The dial position is accessible through the
The
**user position**
derives from the dial, following the formula
defined below:
`velocity_low_limit`
and
`velocity_high_limit`
are optional velocity limit defined in the configuration.
`velocity_low_limit`
and
`velocity_high_limit`
are optional velocity limit
defined in the configuration.
```
user_position = (sign * dial_position) + offset```
...
...
@@ -179,7 +181,6 @@ Thus:
* when acceleration is changed, acctime is updated
* when acctime is changed, acceleration is updated.
```
python
DEMO [17]: mot1.acceleration ⏎
Out [17]: 10.0
...
...
@@ -188,16 +189,18 @@ DEMO [18]: mot1.acctime ⏎
Out [18]: 0.4
DEMO [19]: mot1.acceleration=20 ⏎
'mot1
` acceleration changed from 10.0 to 20.0
DEMO [20]: mot1.acctime ⏎
Out [20]: 0.2
DEMO [21]: mot1.acctime=1 ⏎
'mot1`
acceleration changed from 20.0 to 4.0
DEMO [22]: mot1.acceleration ⏎
Out [22]: 4.0
```
### limits
Read-Write - float - from config and persistant in memory
...
...
tests/motors/test_axis_messages.py
View file @
d54f7b27
...
...
@@ -35,6 +35,22 @@ def test_axis_stdout(roby, capsys, log_shell_mode):
==
"'roby` position reset from 0.0 to 2.0 (sign: 1, offset: 1.0)
\n
'roby` dial position reset from 1.0 to 2.0
\n
"
)
vel
=
roby
.
velocity
roby
.
velocity
=
vel
+
1
assert
(
capsys
.
readouterr
().
out
==
f
"'roby` velocity changed from
{
vel
}
to
{
roby
.
velocity
}
\n
"
)
acc
=
roby
.
acceleration
roby
.
acceleration
=
acc
+
1
assert
(
capsys
.
readouterr
().
out
==
f
"'roby` acceleration changed from
{
acc
}
to
{
roby
.
acceleration
}
\n
"
)
def
test_axis_stdout2
(
roby
,
bad_motor
,
capsys
,
log_shell_mode
):
"""Ensure "Moving..." and "...stopped at..." messages are present.
...
...
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