96 lines
1.9 KiB
Python
96 lines
1.9 KiB
Python
from contextlib import contextmanager
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from components import AStirrer
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import time
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import serial
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class StirrerPololu1376(AStirrer):
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def name(self):
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return "Pololu1376"
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def __init__(self, dt, params):
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AStirrer.__init__(self, dt)
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self.isMasterOn = 0
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self.ser_speed = params['speed']
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self.ser_port = params['port']
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self.ser = serial.Serial(self.ser_port, self.ser_speed)
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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 serial.SerialException:
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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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self.ser_recv()
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self.activate(False)
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@contextmanager
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def remote_open(self):
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try:
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self.activate(True)
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yield None
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finally:
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self.activate(False)
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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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data = self.ser.readline().decode("utf-8").replace("\n", '').replace("\r", '')
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return data
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def get_speed(self):
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if self.isOn and self.is_activated():
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return self.speed
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return 0
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def activate(self, enable):
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print("activate {}".format(enable))
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if enable:
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self.ser_send("go")
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else:
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self.ser_send("X")
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def on_set_speed(self, speed):
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self.ser_send("F" + str(int(speed)) + "%")
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print("Set speed to {} %".format(speed))
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if __name__ == '__main__':
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s = StirrerPololu1376({'dt': 1.0, 'port': "/dev/ttyACM0", 'speed': 115200})
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with s.remote_open():
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print("Set some speeds")
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s.set_speed(50)
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time.sleep(2)
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s.set_speed(20)
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time.sleep(2)
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s.set_speed(50)
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time.sleep(2)
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print("Pulsed operation, duty cycle = 50%")
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s.set_duty_cycle(0.5)
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s.set_cycle_time(10)
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for i in range(1, 30):
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s.process()
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time.sleep(1)
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print("Pulsed operation, duty cycle = 20%")
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s.set_duty_cycle(0.2)
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s.set_cycle_time(10)
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for i in range(1, 30):
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s.process()
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time.sleep(1)
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print("Continious operation")
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s.set_duty_cycle(1.0)
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s.set_speed(50)
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time.sleep(3.0)
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print("Leaving context")
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