From 6196f944c6cc648c7535111a5baf15ebf15f3073 Mon Sep 17 00:00:00 2001
From: jens <jens.ahrensfeld@gmx.de>
Date: Wed, 11 Aug 2021 17:49:37 +0200
Subject: [PATCH] - use new Pololu driver

---
 .../actor/{Pololu1376.py => pololu1376.py}    |  6 ++--
 components/actor/stirrerpololu1376.py         | 30 +++++--------------
 2 files changed, 10 insertions(+), 26 deletions(-)
 rename components/actor/{Pololu1376.py => pololu1376.py} (99%)

diff --git a/components/actor/Pololu1376.py b/components/actor/pololu1376.py
similarity index 99%
rename from components/actor/Pololu1376.py
rename to components/actor/pololu1376.py
index dc11089..3846bed 100644
--- a/components/actor/Pololu1376.py
+++ b/components/actor/pololu1376.py
@@ -78,6 +78,9 @@ class Pololu1376:
 	def go(self):
 		return self.cmd("GO")
 
+	def stop(self):
+		return self.cmd("X")
+
 	def motor_forward(self, speed_percent):
 		return self.cmd("F" + str(int(speed_percent)) + "%")
 
@@ -87,9 +90,6 @@ class Pololu1376:
 	def motor_brake(self, brake_amount_percent):
 		return self.cmd("B" + str(int(brake_amount_percent)) + "%")
 
-	def motor_stop(self):
-		return self.cmd("X")
-
 	def motor_set_limit(self, value):
 		self.cmd("L" + str(value))
 
diff --git a/components/actor/stirrerpololu1376.py b/components/actor/stirrerpololu1376.py
index 7459c62..088ba15 100644
--- a/components/actor/stirrerpololu1376.py
+++ b/components/actor/stirrerpololu1376.py
@@ -1,5 +1,6 @@
 from contextlib import contextmanager
 from components import AStirrer
+from pololu1376 import Pololu1376
 import time
 import serial
 
@@ -12,19 +13,9 @@ class StirrerPololu1376(AStirrer):
 		AStirrer.__init__(self, dt)
 		self.isMasterOn = 0
 
-		self.ser_speed = params['speed']
-		self.ser_port = params['port']
-		self.ser = serial.Serial(self.ser_port, self.ser_speed)
-		self.ser.set_output_flow_control(False)
-		try:
-			self.ser.open()
-		except serial.SerialException:
-			self.ser.close()
-			self.ser.open()
-
-		self.ser_send('V')
-		self.ser_recv()
-
+		ser = serial.Serial(params['port'], params['speed'])
+		ser.set_output_flow_control(False)
+		self.drv = Pololu1376(ser)
 		self.activate(False)
 
 	@contextmanager
@@ -35,13 +26,6 @@ class StirrerPololu1376(AStirrer):
 		finally:
 			self.activate(False)
 
-	def ser_send(self, cmd):
-		self.ser.write((cmd + '\r\n').encode())
-
-	def ser_recv(self):
-		data = self.ser.readline().decode("utf-8").replace("\n", '').replace("\r", '')
-		return data
-
 	def get_speed(self):
 		if self.isOn and self.is_activated():
 			return self.speed
@@ -50,12 +34,12 @@ class StirrerPololu1376(AStirrer):
 	def activate(self, enable):
 		print("activate {}".format(enable))
 		if enable:
-			self.ser_send("go")
+			self.drv.go()
 		else:
-			self.ser_send("X")
+			self.drv.stop()
 
 	def on_set_speed(self, speed):
-		self.ser_send("F" + str(int(speed)) + "%")
+		self.drv.motor_forward(speed)
 		print("Set speed to {} %".format(speed))