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Bliss
bliss
Commits
fcfb2155
Commit
fcfb2155
authored
Jul 07, 2021
by
bliss administrator
Committed by
Matias Guijarro
Jul 08, 2021
Browse files
micos: fix all calls to _send_no_ans and _send, controller class renamed
to Micos
parent
ccc29d59
Changes
1
Hide whitespace changes
Inline
Side-by-side
bliss/controllers/motors/micos.py
View file @
fcfb2155
...
...
@@ -173,7 +173,7 @@ from bliss.common.logtools import (
# -------------- Micos motor controller class ------------------
class
m
icos
(
Controller
):
class
M
icos
(
Controller
):
# Actions that can be executed automatically at power up
# used with "setnpowerup" command
...
...
@@ -265,6 +265,7 @@ class micos(Controller):
Opens serial line.
"""
log_info
(
self
,
"initialize()"
)
self
.
_micos_enc
=
{}
try
:
self
.
serial
=
get_comm
(
self
.
config
.
config_dict
,
SERIAL
,
timeout
=
5
,
baudrate
=
19200
,
eol
=
"
\r\n
"
...
...
@@ -732,7 +733,7 @@ class micos(Controller):
log_info
(
self
,
"set_on()"
)
_cmd
=
"1 %d setaxis "
%
axis
.
number
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# Check for general/system error
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
...
...
@@ -751,7 +752,7 @@ class micos(Controller):
log_info
(
self
,
"set_off()"
)
_cmd
=
"0 %d setaxis "
%
axis
.
number
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# Check for general/system error
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
...
...
@@ -792,7 +793,7 @@ class micos(Controller):
# _cmd = "%d gnv " % axis.number
_cmd
=
"%d getnvel "
%
axis
.
number
_ans
=
self
.
_send
(
axis
,
_cmd
)
_ans
=
self
.
_send
(
_cmd
)
log_debug
(
self
,
"read_velocity(): %s"
%
_ans
)
_vel
=
float
(
_ans
)
log_debug
(
self
,
"read_velocity(): velocity = %f"
%
_vel
)
...
...
@@ -809,7 +810,7 @@ class micos(Controller):
# _cmd = "%f %d snv " % (new_velocity, axis.number)
_cmd
=
"%f %d setnvel "
%
(
new_velocity
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# ret = self._get_generror(axis)
# if ret != 0:
# raise RuntimeError(self.GENERAL_ERROR_DICT.get(ret))
...
...
@@ -827,7 +828,7 @@ class micos(Controller):
# _cmd = "%d gna " % axis.number
_cmd
=
"%d getnaccel "
%
axis
.
number
_ans
=
self
.
_send
(
axis
,
_cmd
)
_ans
=
self
.
_send
(
_cmd
)
log_debug
(
self
,
"read_acceleration(): %s"
%
_ans
)
_acc
=
float
(
_ans
)
log_debug
(
self
,
"read_acceleration(): acceleration = %f"
%
_acc
)
...
...
@@ -844,7 +845,7 @@ class micos(Controller):
# _cmd = "%f %d sna " % (new_acceleration, axis.number)
_cmd
=
"%f %d setnaccel "
%
(
new_acceleration
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# ret = self._get_generror(axis)
# if ret != 0:
# raise RuntimeError(self.GENERAL_ERROR_DICT.get(ret))
...
...
@@ -926,7 +927,7 @@ class micos(Controller):
# _cmd = "%d np " % axis.number
_cmd
=
"%d npos "
%
axis
.
number
_ans
=
self
.
_send
(
axis
,
_cmd
)
_ans
=
self
.
_send
(
_cmd
)
log_debug
(
self
,
"read_position(): %s"
%
_ans
)
_pos
=
float
(
_ans
)
log_debug
(
self
,
"position=%f"
%
_pos
)
...
...
@@ -953,7 +954,7 @@ class micos(Controller):
if
new_position
!=
None
:
_cmd
=
"%f %d setnpos "
%
(
new_position
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# Check for general/system error
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
...
...
@@ -961,7 +962,7 @@ class micos(Controller):
axis
.
dial_position
=
new_position
else
:
_cmd
=
"%f %d setnpos "
%
(
axis
.
dial_position
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# Check for general/system error
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
...
...
@@ -1002,7 +1003,7 @@ class micos(Controller):
# _cmd = "%f %d nm " % (motion.target_pos, motion.axis.number)
_cmd
=
"%f %d nmove "
%
(
motion
.
target_pos
,
motion
.
axis
.
number
)
self
.
_send_no_ans
(
motion
.
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
def
stop
(
self
,
axis
):
"""
...
...
@@ -1020,7 +1021,7 @@ class micos(Controller):
log_info
(
self
,
"stop()"
)
_cmd
=
"%d nabort "
%
axis
.
number
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# ---------------- Group motion ------------------
...
...
@@ -1161,11 +1162,11 @@ class micos(Controller):
log_info
(
self
,
"_get_id()"
)
_cmd
=
"%d nidentify "
%
axis
.
number
reply1
=
self
.
_send
(
axis
,
_cmd
)
reply1
=
self
.
_send
(
_cmd
)
log_debug
(
self
,
"_get_id(): Micos equipment id = %s"
%
reply1
)
_cmd
=
"%d nversion "
%
axis
.
number
reply2
=
self
.
_send
(
axis
,
_cmd
)
reply2
=
self
.
_send
(
_cmd
)
log_debug
(
self
,
"_get_id(): Micos firmware version = %s"
%
reply2
)
retstr
=
"Micos ID = %s; Firmware version = %s"
%
(
reply1
,
reply2
)
...
...
@@ -1220,8 +1221,6 @@ class micos(Controller):
print
(
_txt
)
##return _txt
# ---------------- Direct communication methods ------------------
def
raw_write
(
self
,
axis
,
cmd
):
...
...
@@ -1383,7 +1382,7 @@ class micos(Controller):
- <id-info>: string with Micos ID and Firmware version
"""
log_info
(
self
,
"get_id()"
)
self
.
_get_id
(
axis
)
return
self
.
_get_id
(
axis
)
# 'hardware' limits (= end-switches) related
...
...
@@ -1678,11 +1677,10 @@ class micos(Controller):
# ---------------- Micos communiction methods ------------------
def
_send
(
self
,
axis
,
cmd
):
def
_send
(
self
,
cmd
):
"""
- Sends command <cmd> to the MICOS controller.
- Axis number is defined in <cmd>.
- <axis> is passed for debugging purposes.
- Returns answer from controller.
Args:
...
...
@@ -1727,11 +1725,10 @@ class micos(Controller):
# print(" Sending: %r Receiving: %r (duration : %g sec.)" % (_cmd, _ans, _duration))
return
_ans
def
_send_no_ans
(
self
,
axis
,
cmd
):
def
_send_no_ans
(
self
,
cmd
):
"""
- Sends command <cmd> to the MICOS controller.
- Axis number is defined in <cmd>.
- <axis> is passed for debugging purposes.
- Used for answer-less commands, then returns nothing.
Args:
- <axis> : passed for debugging purposes.
...
...
@@ -1772,7 +1769,7 @@ class micos(Controller):
_cmd
=
"%d getnerror "
%
axis
.
number
# _cmd = "%d gne " % axis.number
_ans
=
int
(
self
.
_send
(
axis
,
_cmd
))
_ans
=
int
(
self
.
_send
(
_cmd
))
if
_ans
==
0
:
dbgmsg
=
"No general error --> OK"
...
...
@@ -1814,7 +1811,7 @@ class micos(Controller):
_cmd
=
"%d getmerror "
%
axis
.
number
# _cmd = "%d gme " % axis.number
_ans
=
int
(
self
.
_send
(
axis
,
_cmd
))
_ans
=
int
(
self
.
_send
(
_cmd
))
macherrlist
.
append
(
_ans
)
# Thist function is called from state() when status
...
...
@@ -1831,7 +1828,7 @@ class micos(Controller):
if
status
&
self
.
HW_ERROR
:
_cmd
=
"%d getmerror "
%
axis
.
number
# _cmd = "%d gme " % axis.number
_ans
=
int
(
self
.
_send
(
axis
,
_cmd
))
_ans
=
int
(
self
.
_send
(
_cmd
))
macherrlist
.
append
(
_ans
)
dbgmsg
=
(
"_get_macherror(): Machine erorr = %s "
...
...
@@ -1861,7 +1858,7 @@ class micos(Controller):
# _cmd = "%d nstatus " % axis.number
_cmd
=
"%d nst "
%
axis
.
number
_ans
=
self
.
_send
(
axis
,
_cmd
)
_ans
=
self
.
_send
(
_cmd
)
log_debug
(
self
,
"get_status(): raw_status byte = %s"
%
_ans
)
return
_ans
...
...
@@ -1881,7 +1878,7 @@ class micos(Controller):
_cmd
=
"%d nsave "
%
axis
.
number
# TODO: should test general error here ?
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
def
_restore_axis_parameters
(
self
,
axis
):
"""
...
...
@@ -1895,7 +1892,7 @@ class micos(Controller):
_cmd
=
"%d nrestore "
%
axis
.
number
# TODO: should test general error here ?
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
def
_reset_axis
(
self
,
axis
):
"""
...
...
@@ -1917,7 +1914,7 @@ class micos(Controller):
log_info
(
self
,
"_reset_axis()"
)
_cmd
=
"%d nreset "
%
axis
.
number
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# TODO: should test general error here ?
axis
.
axis_on
=
True
...
...
@@ -1940,7 +1937,7 @@ class micos(Controller):
log_info
(
self
,
"_clear_axis()"
)
_cmd
=
"%d nclear "
%
axis
.
number
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
...
...
@@ -1962,7 +1959,7 @@ class micos(Controller):
log_info
(
self
,
"_get_axis_on()"
)
_cmd
=
"%d getaxis "
%
axis
.
number
ret
=
self
.
_send
(
axis
,
_cmd
)
ret
=
self
.
_send
(
_cmd
)
axis_on
=
True
if
int
(
ret
)
==
1
else
False
log_debug
(
self
,
"_get_axis_on(): axis enabled = %s"
%
axis_on
)
return
axis_on
...
...
@@ -1985,7 +1982,7 @@ class micos(Controller):
"""
log_info
(
self
,
"_get_endswitch_types()"
)
_cmd
=
"%d getsw "
%
axis
.
number
ret
=
self
.
_send
(
axis
,
_cmd
)
ret
=
self
.
_send
(
_cmd
)
# lohiesty = ret.split(" ")
lohiesty
=
ret
.
split
()
loesty
=
int
(
lohiesty
[
0
])
...
...
@@ -2011,12 +2008,12 @@ class micos(Controller):
# If parameters passed, use them.
if
not
isinstance
(
loest
,
Null
)
and
not
isinstance
(
hiest
,
Null
):
_cmd
=
"%d 0 %d setsw "
%
(
loest
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
##ret = self._get_generror(axis)
##if ret != 0:
## raise RuntimeError(self.GENERAL_ERROR_DICT.get(ret))
_cmd
=
"%d 1 %d setsw "
%
(
hiest
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
##ret = self._get_generror(axis)
##if ret != 0:
## raise RuntimeError(self.GENERAL_ERROR_DICT.get(ret))
...
...
@@ -2024,9 +2021,9 @@ class micos(Controller):
axis
.
high_endswitch_type
=
hiest
else
:
_cmd
=
"%d 0 %d setsw "
%
(
axis
.
low_endswitch_type
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
_cmd
=
"%d 1 %d setsw "
%
(
axis
.
high_endswitch_type
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
##ret = self._get_generror(axis)
##if ret != 0:
## raise RuntimeError(self.GENERAL_ERROR_DICT.get(ret))
...
...
@@ -2045,7 +2042,7 @@ class micos(Controller):
"""
log_info
(
self
,
"_get_endswitch_status()"
)
_cmd
=
"%d getswst "
%
axis
.
number
[
loesststr
,
hiesststr
]
=
self
.
_send
(
axis
,
_cmd
).
split
()
[
loesststr
,
hiesststr
]
=
self
.
_send
(
_cmd
).
split
()
log_debug
(
self
,
"_get_endswitch_status(): Low endswitch status = %s"
%
loesststr
)
...
...
@@ -2079,7 +2076,7 @@ class micos(Controller):
_cmd
=
"%d getnlimit "
%
axis
.
number
# The command returns string with low and high hardware limits
# separated by space
ret
=
self
.
_send
(
axis
,
_cmd
)
ret
=
self
.
_send
(
_cmd
)
hw_lohi_lim
=
ret
.
split
()
hw_lolim
=
float
(
hw_lohi_lim
[
0
])
hw_hilim
=
float
(
hw_lohi_lim
[
1
])
...
...
@@ -2108,7 +2105,7 @@ class micos(Controller):
# If parameters passed, use them.
if
not
isinstance
(
hw_low_limit
,
Null
)
and
not
isinstance
(
hw_high_limit
,
Null
):
_cmd
=
"%f %f %d setnlimit "
%
(
hw_low_limit
,
hw_high_limit
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
...
...
@@ -2118,7 +2115,7 @@ class micos(Controller):
hw_lolim
=
axis
.
hw_low_limit
hw_hilim
=
axis
.
hw_high_limit
_cmd
=
"%f %f %d setnlimit "
%
(
hw_lolim
,
hw_hilim
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
...
...
@@ -2141,7 +2138,7 @@ class micos(Controller):
log_info
(
self
,
"_get_tofrom_endsw_velocity()"
)
_cmd
=
"%d getncalvel "
%
axis
.
number
cal_2velocities_str
=
self
.
_send
(
axis
,
_cmd
)
cal_2velocities_str
=
self
.
_send
(
_cmd
)
cal_2velocities_list
=
cal_2velocities_str
.
split
()
axis
.
tofrom_endsw_velocity
=
float
(
cal_2velocities_list
[
0
])
log_debug
(
...
...
@@ -2176,28 +2173,28 @@ class micos(Controller):
# velocity for move to cal switch
cmd
=
"%f 1 %d setncalvel "
%
(
tofrom_endsw_velocity
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
cmd
)
self
.
_send_no_ans
(
cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
# velocity for move away from cal switch
cmd
=
"%f 2 %d setncalvel "
%
(
tofrom_endsw_velocity
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
cmd
)
self
.
_send_no_ans
(
cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
# velocity for move to rm switch
cmd
=
"%f 1 %d setnrmvel "
%
(
tofrom_endsw_velocity
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
cmd
)
self
.
_send_no_ans
(
cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
# velocity for move away from rm switch
cmd
=
"%f 2 %d setnrmvel "
%
(
tofrom_endsw_velocity
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
cmd
)
self
.
_send_no_ans
(
cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
...
...
@@ -2226,7 +2223,7 @@ class micos(Controller):
# _cmd = "%d ncal " % axis.number
_cmd
=
"%d ncalibrate "
%
axis
.
number
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
log_debug
(
self
,
...
...
@@ -2256,7 +2253,7 @@ class micos(Controller):
# _cmd = "%d nrm " % axis.number
_cmd
=
"%d nrangemeasure "
%
axis
.
number
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
log_debug
(
self
,
...
...
@@ -2281,7 +2278,7 @@ class micos(Controller):
log_info
(
self
,
"_get_action_at_powerup()"
)
_cmd
=
"%d getnpowerup "
%
axis
.
number
ret
=
int
(
self
.
_send
(
axis
,
_cmd
))
ret
=
int
(
self
.
_send
(
_cmd
))
log_debug
(
self
,
"_get_action_at_powerup(): powerup action = %d"
%
ret
)
log_debug
(
self
,
...
...
@@ -2316,7 +2313,7 @@ class micos(Controller):
raise
ValueError
(
msg
)
_cmd
=
"%d %d setnpowerup "
%
(
powerup_action
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
##ret = self._get_generror(axis)
##if ret != 0:
...
...
@@ -2346,7 +2343,7 @@ class micos(Controller):
log_info
(
self
,
"_get_cloop_on()"
)
_cmd
=
"%d getcloop "
%
axis
.
number
ret
=
self
.
_send
(
axis
,
_cmd
)
ret
=
self
.
_send
(
_cmd
)
cloop_on
=
True
if
int
(
ret
)
==
1
else
False
log_debug
(
self
,
"_get_cloop_on(): closed loop enabled = %s"
%
cloop_on
)
return
cloop_on
...
...
@@ -2362,7 +2359,7 @@ class micos(Controller):
log_info
(
self
,
"_set_cloop_on()"
)
_cmd
=
"1 %d setcloop "
%
axis
.
number
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# ret = self._get_generror(axis)
# if ret != 0:
# raise RuntimeError(self.GENERAL_ERROR_DICT.get(ret))
...
...
@@ -2379,7 +2376,7 @@ class micos(Controller):
log_info
(
self
,
"_set_cloop_off()"
)
_cmd
=
"0 %d setcloop "
%
axis
.
number
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
...
...
@@ -2418,7 +2415,7 @@ class micos(Controller):
)
_cmd
=
"%d getclwindow "
%
axis
.
number
ret
=
self
.
_send
(
axis
,
_cmd
)
ret
=
self
.
_send
(
_cmd
)
# The returned string ret has the form:
# "winsize 0 gstbit5sel trigopsel"
# Extract different parts:
...
...
@@ -2508,7 +2505,7 @@ class micos(Controller):
trigopsel
,
axis
.
number
,
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# ret = self._get_generror(axis)
# if ret != 0:
# raise RuntimeError(self.GENERAL_ERROR_DICT.get(ret))
...
...
@@ -2531,7 +2528,7 @@ class micos(Controller):
)
_cmd
=
"%d getclwintime "
%
axis
.
number
axis
.
cloop_wintime
=
float
(
self
.
_send
(
axis
,
_cmd
))
axis
.
cloop_wintime
=
float
(
self
.
_send
(
_cmd
))
log_debug
(
self
,
...
...
@@ -2567,7 +2564,7 @@ class micos(Controller):
axis
.
cloop_wintime
=
wintime
_cmd
=
"%f %d setclwintime "
%
(
float
(
wintime
),
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# ret = self._get_generror(axis)
# if ret != 0:
# raise RuntimeError(self.GENERAL_ERROR_DICT.get(ret))
...
...
@@ -2589,7 +2586,7 @@ class micos(Controller):
log_info
(
self
,
"_get_cloop_params()"
)
_cmd
=
"%d getclpara "
%
axis
.
number
cloop_params_str
=
self
.
_send
(
axis
,
_cmd
)
cloop_params_str
=
self
.
_send
(
_cmd
)
# cloop_params_str = string of form: "P I D"
log_debug
(
self
,
"_get_cloop_params(): P I D params = %s"
%
cloop_params_str
)
cloop_params_list
=
cloop_params_str
.
split
()
...
...
@@ -2612,7 +2609,7 @@ class micos(Controller):
log_info
(
self
,
"_set_cloop_params()"
)
_cmd
=
"%s 3 %d setclpara "
%
(
cloop_params
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
...
...
@@ -2640,7 +2637,7 @@ class micos(Controller):
# _cmd = "%f %d nr " % (displacement, axis.number)
_cmd
=
"%f %d nrmove "
%
(
displacement
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# ------------ holding current related methods ----------------
...
...
@@ -2658,7 +2655,7 @@ class micos(Controller):
log_info
(
self
,
"_get_hold_current()"
)
_cmd
=
"%d getumotmin "
%
axis
.
number
axis
.
hold_current
=
float
(
self
.
_send
(
axis
,
_cmd
))
axis
.
hold_current
=
float
(
self
.
_send
(
_cmd
))
log_debug
(
self
,
"_get_hold_current(): hold current = %f (x)A"
%
axis
.
hold_current
...
...
@@ -2679,7 +2676,7 @@ class micos(Controller):
hold_current
=
float
(
hold_current
)
_cmd
=
"%f %d setumotmin "
%
(
hold_current
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
...
...
@@ -2706,7 +2703,7 @@ class micos(Controller):
log_info
(
self
,
"_get_move_current()"
)
_cmd
=
"%d getumotgrad "
%
axis
.
number
axis
.
move_current
=
float
(
self
.
_send
(
axis
,
_cmd
))
axis
.
move_current
=
float
(
self
.
_send
(
_cmd
))
log_debug
(
self
,
"_get_move_current(): move current = %f (x)A"
%
axis
.
move_current
...
...
@@ -2727,7 +2724,7 @@ class micos(Controller):
move_current
=
float
(
move_current
)
_cmd
=
"%f %d setumotgrad "
%
(
move_current
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
...
...
@@ -2759,7 +2756,7 @@ class micos(Controller):
log_info
(
self
,
"_get_to_reference_velocity()"
)
_cmd
=
"%d 1 getnrefvel "
%
axis
.
number
to_ref_vel_str
=
self
.
_send
(
axis
,
_cmd
)
to_ref_vel_str
=
self
.
_send
(
_cmd
)
to_ref_vel_list
=
to_ref_vel_str
.
split
()
to_ref_vel
=
float
(
to_ref_vel_list
[
0
])
log_debug
(
...
...
@@ -2789,7 +2786,7 @@ class micos(Controller):
to_ref_vel
=
axis
.
to_reference_velocity
_cmd
=
"%f 1 %d setnrefvel "
%
(
to_ref_vel
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
ret
=
self
.
_get_generror
(
axis
)
if
ret
!=
0
:
raise
RuntimeError
(
self
.
GENERAL_ERROR_DICT
.
get
(
ret
))
...
...
@@ -2870,7 +2867,7 @@ class micos(Controller):
# the next 2 lines and then comment the part with the 'in the
# loop solution' implemented further down.
# _cmd = "%f %d nrefmove " % (max_relative_path, axis.number)
# self._send_no_ans(
axis,
_cmd)
# self._send_no_ans(_cmd)
## Next lines commented since during ref.position search calling
## general error gives time-out on the serial line!!
##ret = self._get_generror(axis)
...
...
@@ -2900,7 +2897,7 @@ class micos(Controller):
self
,
"_move_to_reference(): max rel.path = %f degrees"
%
distance
)
_cmd
=
"%f %d nrefmove "
%
(
distance
,
axis
.
number
)
self
.
_send_no_ans
(
axis
,
_cmd
)
self
.
_send_no_ans
(
_cmd
)
# start waiting end of homing
if
self
.
_wait_home_task
is
None
:
...
...
@@ -3030,6 +3027,6 @@ class micos(Controller):
log_info
(
self
,
"_get_reference_status()"
)
_cmd
=
"%d getrefst "
%
(
axis
.
number
)
ref_status_str
=
self
.
_send
(
axis
,
_cmd
)
ref_status_str
=
self
.
_send
(
_cmd
)
log_debug
(
self
,
"_get_reference_status(): %s"
%
(
ref_status_str
))
return
int
(
ref_status_str
)
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