jens
8f62825c94
git-svn-id: http://moon:8086/svn/projects/HendiControl@374 fda53097-d464-4ada-af97-ba876c37ca34
84 lines
1.7 KiB
Python
84 lines
1.7 KiB
Python
from astirrer import AStirrer
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import serial
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import time
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import serial
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class Stirrer_pololu1376(AStirrer):
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def name(self):
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return "Stirrer_pololu1376"
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def __init__(self, params):
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super(Stirrer_pololu1376, self).__init__(params["dt"])
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self.isMasterOn = 0
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self.ser_speed = params["speed"]
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self.ser_port = params["port"]
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self.ser = serial.Serial(self.ser_port, self.ser_speed)
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self.ser.set_output_flow_control(False)
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try:
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self.ser.open()
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except:
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self.ser.close()
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self.ser.open()
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self.ser_send('V')
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self.ser_recv()
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def ser_send(self, cmd):
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self.ser.write((cmd + '\r\n').encode())
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def ser_recv(self):
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s = self.ser.readline().decode("utf-8").replace("\n", '').replace("\r", '')
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return s
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def getSpeed(self):
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if self.isOn and self.isMasterOn:
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return self.speed
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return 0
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def activate(self):
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if self.isMasterOn == 0:
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self.log("Switched On")
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self.isMasterOn = 1
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self.ser_send("go")
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def deactivate(self):
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if self.isMasterOn == 1:
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self.log("Switched Off")
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self.isMasterOn = 0
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self.ser_send("x")
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def onSetSpeed(self, speed):
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self.ser_send("F" + str(speed) + "%")
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self.log("Set speed to {} %".format(speed))
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if __name__ == '__main__':
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s = Pololu1376({'dt': 1.0, "port":"/dev/ttyACM0", "speed":"115200"})
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s.activate()
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print ("Set some speeds")
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s.setSpeed(50)
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time.sleep(2)
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s.setSpeed(20)
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time.sleep(2)
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s.setSpeed(50)
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time.sleep(2)
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print ("Pulsed operation, duty cycle = 50%")
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s.setDutyCycle(0.5)
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s.setCycleTime(10)
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for i in range(1,30):
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s.process()
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time.sleep(1)
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print ("Pulsed operation, duty cycle = 20%")
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s.setDutyCycle(0.2)
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s.setCycleTime(10)
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for i in range(1,30):
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s.process()
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time.sleep(1)
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s.deactivate()
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