- refactored

git-svn-id: http://moon:8086/svn/projects/HendiControl@130 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/pololu1376.py

@@ -1,8 +1,9 @@
 from astirrer import AStirrer
 import serial
+import time
 
 class Pololu1376(AStirrer):
-	def __init__(self, params, com_port='/dev/ttyUSB0', com_baud=115200):
+	def __init__(self, params, com_port='/dev/ttyUSB0', com_baud=9600):
 		self.params = params
 		self.rpm = 0
 		self.cycleTime = 1
@@ -20,8 +21,15 @@ class Pololu1376(AStirrer):
 			self.ser.close()
 			self.ser.open()
 
-		self.ser.write("V")
-		print(self.ser.read())
+		self.ser_send('V')
+		print(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 process(self):
 		dt = self.params["dt"]
@@ -39,10 +47,10 @@ class Pololu1376(AStirrer):
 				self.log ("Stirrer: Off")
 				self.isOn = 0
 
-	def setRpm(self, rpm):
-		self.log ("Stirrer: Set RPM to {} rpm".format(rpm))
-		self.rpm = rpm
-		self.ser.write("F" + str(rpm))
+	def setSpeed(self, speed):
+		self.log ("Stirrer: Set RPM to {} %".format(speed))
+		self.speed = speed
+
 
 	def setCycleTime(self, time):
 		self.log ("Stirrer: Set cycle time to {} s".format(time))
@@ -52,18 +60,36 @@ class Pololu1376(AStirrer):
 		self.log ("Stirrer: Set duty cycle to {} %".format(100*dutyCycle))
 		self.dutyCycle = dutyCycle
 
-	def getRpm(self):
+	def getSpeed(self):
 		if self.isOn and self.isMasterOn:
-			return self.rpm
+			return self.speed
 		return 0
 
 	def start(self):
 		self.isMasterOn = 1
 		self.log("Stirrer: switched On")
+		self.ser_send("go")
 
 	def stop(self):
 		self.isMasterOn = 0
 		self.log("Stirrer: switched Off")
+		self.ser_send("x")
+
+	def setMotorSpeed(self, speed):
+		self.ser_send("F" + str(speed) + "%")
 
 if __name__ == '__main__':
 	s = Pololu1376(None, "/dev/ttyACM0", "115200")
+	s.start()
+	s.setRpm(1000)
+	time.sleep(2)
+	s.setRpm(2000)
+	time.sleep(2)
+	s.setRpm(3000)
+	time.sleep(2)
+	s.setRpm(2000)
+	time.sleep(2)
+	s.setRpm(1000)
+	time.sleep(2)
+	s.stop()	
+