- added motor driver

git-svn-id: http://moon:8086/svn/projects/HendiControl@128 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/pololu1376.py

@@ -0,0 +1,69 @@
+from astirrer import AStirrer
+import serial
+
+class Pololu1376(AStirrer):
+	def __init__(self, params, com_port='/dev/ttyUSB0', com_baud=115200):
+		self.params = params
+		self.rpm = 0
+		self.cycleTime = 1
+		self.dutyCycle = 1
+		self.cycleCounter = 0
+		self.isOn = 0
+		self.isMasterOn = 0
+
+		self.ser = serial.Serial(com_port, com_baud)
+		self.ser.set_output_flow_control(False)
+
+		try:
+			self.ser.open()
+		except:
+			self.ser.close()
+			self.ser.open()
+
+		self.ser.write("V")
+		print(self.ser.read())
+
+	def process(self):
+		dt = self.params["dt"]
+
+		self.cycleCounter -= dt
+		if self.cycleCounter <= 0:
+			self.cycleCounter = self.cycleTime
+
+		if self.cycleCounter <= (self.cycleTime * self.dutyCycle):
+			if not self.isOn:
+				self.log ("Stirrer: On")
+				self.isOn = 1
+		else:
+			if self.isOn:
+				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 setCycleTime(self, time):
+		self.log ("Stirrer: Set cycle time to {} s".format(time))
+		self.cycleTime = time
+
+	def setDutyCycle(self, dutyCycle):
+		self.log ("Stirrer: Set duty cycle to {} %".format(100*dutyCycle))
+		self.dutyCycle = dutyCycle
+
+	def getRpm(self):
+		if self.isOn and self.isMasterOn:
+			return self.rpm
+		return 0
+
+	def start(self):
+		self.isMasterOn = 1
+		self.log("Stirrer: switched On")
+
+	def stop(self):
+		self.isMasterOn = 0
+		self.log("Stirrer: switched Off")
+
+if __name__ == '__main__':
+	s = Pololu1376(None, "/dev/ttyACM0", "115200")