added

git-svn-id: http://moon:8086/svn/projects/HendiControl@377 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/stirrer.py

@@ -0,0 +1,83 @@
+from astirrer import AStirrer
+import serial
+import time
+import serial
+
+
+class Stirrer(AStirrer):
+	def name(self):
+		return "Stirrer"
+	
+	def __init__(self, params):
+		super(Stirrer_pololu1376, self).__init__(params["dt"])
+		self.isMasterOn = 0
+
+		self.ser_speed = params["speed"]
+		self.ser_port = params["port"]
+		self.ser = serial.Serial(self.ser_port, self.ser_speed)
+		self.ser.set_output_flow_control(False)
+		try:
+			self.ser.open()
+		except:
+			self.ser.close()
+			self.ser.open()
+
+		self.ser_send('V')
+		self.ser_recv()
+
+	def ser_send(self, cmd):
+		self.ser.write((cmd + '\r\n').encode())
+
+	def ser_recv(self):
+		s = self.ser.readline().decode("utf-8").replace("\n", '').replace("\r", '')
+		return s
+
+	def getSpeed(self):
+		if self.isOn and self.isMasterOn:
+			return self.speed
+		return 0
+
+	def activate(self):
+		if self.isMasterOn == 0:
+			self.log("Switched On")
+		self.isMasterOn = 1
+		self.ser_send("go")
+
+	def deactivate(self):
+		if self.isMasterOn == 1:
+			self.log("Switched Off")
+		self.isMasterOn = 0
+		self.ser_send("x")
+
+	def onSetSpeed(self, speed):
+		self.ser_send("F" + str(speed) + "%")
+		self.log("Set speed to {} %".format(speed))
+
+
+if __name__ == '__main__':
+	s = Pololu1376({'dt': 1.0, "port":"/dev/ttyACM0", "speed":"115200"})
+	s.activate()
+
+	print ("Set some speeds")
+	s.setSpeed(50)
+	time.sleep(2)
+	s.setSpeed(20)
+	time.sleep(2)
+	s.setSpeed(50)
+	time.sleep(2)
+
+	print ("Pulsed operation, duty cycle = 50%")
+	s.setDutyCycle(0.5)
+	s.setCycleTime(10)
+	for i in range(1,30):
+		s.process()
+		time.sleep(1)
+
+	print ("Pulsed operation, duty cycle = 20%")
+	s.setDutyCycle(0.2)
+	s.setCycleTime(10)
+	for i in range(1,30):
+		s.process()
+		time.sleep(1)
+
+	s.deactivate()