- added unit test

- refactored


git-svn-id: http://moon:8086/svn/projects/HendiControl@134 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/pololu1376.py

@@ -5,7 +5,7 @@ import time
 class Pololu1376(AStirrer):
 	def __init__(self, params, com_port='/dev/ttyUSB0', com_baud=9600):
 		self.params = params
-		self.rpm = 0
+		self.speed = 0
 		self.cycleTime = 1
 		self.dutyCycle = 1
 		self.cycleCounter = 0
@@ -40,17 +40,20 @@ class Pololu1376(AStirrer):
 
 		if self.cycleCounter <= (self.cycleTime * self.dutyCycle):
 			if not self.isOn:
+				self.__setMotorSpeed(self.speed)
 				self.log ("Stirrer: On")
 				self.isOn = 1
 		else:
 			if self.isOn:
+				self.__setMotorSpeed(0)
 				self.log ("Stirrer: Off")
 				self.isOn = 0
 
 	def setSpeed(self, speed):
-		self.log ("Stirrer: Set RPM to {} %".format(speed))
+		self.log ("Stirrer: Set speed to {} %".format(speed))
 		self.speed = speed
-
+		if self.isOn:
+			self.__setMotorSpeed(speed)
 
 	def setCycleTime(self, time):
 		self.log ("Stirrer: Set cycle time to {} s".format(time))
@@ -75,21 +78,21 @@ class Pololu1376(AStirrer):
 		self.log("Stirrer: switched Off")
 		self.ser_send("x")
 
-	def setMotorSpeed(self, speed):
+	def __setMotorSpeed(self, speed):
 		self.ser_send("F" + str(speed) + "%")
 
 if __name__ == '__main__':
 	s = Pololu1376(None, "/dev/ttyACM0", "115200")
 	s.start()
-	s.setRpm(1000)
+	s.setSpeed(1000)
 	time.sleep(2)
-	s.setRpm(2000)
+	s.setSpeed(2000)
 	time.sleep(2)
-	s.setRpm(3000)
+	s.setSpeed(3000)
 	time.sleep(2)
-	s.setRpm(2000)
+	s.setSpeed(2000)
 	time.sleep(2)
-	s.setRpm(1000)
+	s.setSpeed(1000)
 	time.sleep(2)
 	s.stop()