- fixed stirrer test

components/actor/stirrerpololu1376.py

@@ -28,10 +28,10 @@ class StirrerPololu1376(AStirrer):
 	@contextmanager
 	def remote_open(self):
 		try:
-			self.on_activate(True)
+			self.activate(True)
 			yield None
 		finally:
-			self.on_activate(False)
+			self.activate(False)
 
 	def ser_send(self, cmd):
 		self.ser.write((cmd + '\r\n').encode())
@@ -46,7 +46,11 @@ class StirrerPololu1376(AStirrer):
 		return 0
 
 	def on_activate(self, enable):
-		self.ser_send("go")
+		if enable:
+			self.ser_send("go")
+		else:
+			self.ser_send("X")
+
 		print("on_activate {}".format(enable))
 
 	def on_set_speed(self, speed):
@@ -56,28 +60,28 @@ class StirrerPololu1376(AStirrer):
 
 if __name__ == '__main__':
 	s = StirrerPololu1376({'dt': 1.0, 'port': "/dev/ttyACM0", 'speed': 115200})
-	s.activate(True)
 
-	print("Set some speeds")
-	s.set_speed(50)
-	time.sleep(2)
-	s.set_speed(20)
-	time.sleep(2)
-	s.set_speed(50)
-	time.sleep(2)
+	with s.remote_open():
 
-	print("Pulsed operation, duty cycle = 50%")
-	s.set_duty_cycle(0.5)
-	s.set_cycle_time(10)
-	for i in range(1, 30):
-		s.process()
-		time.sleep(1)
+		print("Set some speeds")
+		s.set_speed(50)
+		time.sleep(2)
+		s.set_speed(20)
+		time.sleep(2)
+		s.set_speed(50)
+		time.sleep(2)
 
-	print("Pulsed operation, duty cycle = 20%")
-	s.set_duty_cycle(0.2)
-	s.set_cycle_time(10)
-	for i in range(1, 30):
-		s.process()
-		time.sleep(1)
+		print("Pulsed operation, duty cycle = 50%")
+		s.set_duty_cycle(0.5)
+		s.set_cycle_time(10)
+		for i in range(1, 30):
+			s.process()
+			time.sleep(1)
+
+		print("Pulsed operation, duty cycle = 20%")
+		s.set_duty_cycle(0.2)
+		s.set_cycle_time(10)
+		for i in range(1, 30):
+			s.process()
+			time.sleep(1)
 
-	s.activate(False)