jens
b37bb5c720
git-svn-id: http://moon:8086/svn/projects/HendiControl@130 fda53097-d464-4ada-af97-ba876c37ca34
96 lines
2.0 KiB
Python
96 lines
2.0 KiB
Python
from astirrer import AStirrer
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import serial
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import time
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class Pololu1376(AStirrer):
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def __init__(self, params, com_port='/dev/ttyUSB0', com_baud=9600):
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self.params = params
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self.rpm = 0
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self.cycleTime = 1
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self.dutyCycle = 1
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self.cycleCounter = 0
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self.isOn = 0
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self.isMasterOn = 0
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self.ser = serial.Serial(com_port, com_baud)
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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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print(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 process(self):
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dt = self.params["dt"]
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self.cycleCounter -= dt
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if self.cycleCounter <= 0:
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self.cycleCounter = self.cycleTime
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if self.cycleCounter <= (self.cycleTime * self.dutyCycle):
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if not self.isOn:
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self.log ("Stirrer: On")
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self.isOn = 1
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else:
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if self.isOn:
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self.log ("Stirrer: Off")
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self.isOn = 0
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def setSpeed(self, speed):
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self.log ("Stirrer: Set RPM to {} %".format(speed))
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self.speed = speed
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def setCycleTime(self, time):
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self.log ("Stirrer: Set cycle time to {} s".format(time))
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self.cycleTime = time
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def setDutyCycle(self, dutyCycle):
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self.log ("Stirrer: Set duty cycle to {} %".format(100*dutyCycle))
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self.dutyCycle = dutyCycle
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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 start(self):
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self.isMasterOn = 1
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self.log("Stirrer: switched On")
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self.ser_send("go")
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def stop(self):
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self.isMasterOn = 0
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self.log("Stirrer: switched Off")
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self.ser_send("x")
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def setMotorSpeed(self, speed):
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self.ser_send("F" + str(speed) + "%")
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if __name__ == '__main__':
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s = Pololu1376(None, "/dev/ttyACM0", "115200")
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s.start()
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s.setRpm(1000)
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time.sleep(2)
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s.setRpm(2000)
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time.sleep(2)
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s.setRpm(3000)
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time.sleep(2)
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s.setRpm(2000)
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time.sleep(2)
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s.setRpm(1000)
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time.sleep(2)
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s.stop()
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