- refactored

components/actor/stirrerpololu1376.py

@@ -0,0 +1,74 @@
+from components import AStirrer
+import time
+import serial
+
+
+class StirrerPololu1376(AStirrer):
+	def name(self):
+		return "Pololu1376"
+	
+	def __init__(self, dt, port, baudrate):
+		super(StirrerPololu1376, self).__init__(dt)
+		self.isMasterOn = 0
+
+		self.ser_speed = baudrate
+		self.ser_port = 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()
+
+	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
+		return 0
+
+	def on_activate(self, enable):
+		self.ser_send("go")
+		print("on_activate {}".format(enable))
+
+	def on_set_speed(self, speed):
+		self.ser_send("F" + str(speed) + "%")
+		print("Set speed to {} %".format(speed))
+
+
+if __name__ == '__main__':
+	s = StirrerPololu1376(dt=1.0, port="/dev/ttyACM0", baudrate=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)
+
+	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)