- Pololu1376: take enums as variable id

- stirrerPololu1376: Make for robust against motor cable plug

components/actor/stirrerpololu1376.py

@@ -1,6 +1,6 @@
 from contextlib import contextmanager
 from components import AStirrer
-from pololu1376 import Pololu1376
+from pololu1376 import *
 import time
 import serial
 
@@ -41,9 +41,16 @@ class StirrerPololu1376(AStirrer):
 		print("Set speed to {} %".format(speed))
 
 	def _on_process(self):
-		print("STATUS :")
-		self.drv.print_vars()
-
+#s		print("STATUS :")
+#		self.drv.print_vars()
+		status = self.drv.get_variable(Varid.STATUS)
+		limit_status = self.drv.get_variable(Varid.STATUS_LIMIT_STATUS)
+		print("Status={:02X}".format(status))
+		if status & 0x01 == 0x01:
+			if limit_status & 0x01 == 0x01:
+				print("Recover after motor error!")
+				self.drv.go()
+		
 
 if __name__ == '__main__':
 	s = StirrerPololu1376(dt=1.0, params={'port': "/dev/ttyACM0", 'speed': 115200})
@@ -77,5 +84,13 @@ if __name__ == '__main__':
 		s.set_speed(50)
 		time.sleep(3.0)
 
+		print("Continious operation increasing speed")
+		for speed in range (25, 75, 5):
+			s.set_duty_cycle(1.0)
+			s.set_speed(speed)
+			for d in range(0,3,1):
+				s.process()
+				time.sleep(1.0)
+
 		print("Leaving context")