jensandClaude Sonnet 5
a19d2504fb
Adds StatusError flags for the STATUS register and get_status_errors(); go() now reports if a fail-safe (safe-start violation or other error) persists after GO instead of failing silently. _on_process uses the same decoding to log any active error and only auto-recovers on a safe-start violation, rather than the old narrow status & limit_status heuristic. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01EU3NTwLygh8jkrnqPoHNXF
132 lines
3.1 KiB
Python
132 lines
3.1 KiB
Python
from contextlib import contextmanager
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from components import AStirrer
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from components.actor.pololu1376 import *
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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, simulated=False)
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# Deferred-open pyserial idiom - see Pololu1376's own constructor
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# comment: connect() is what actually opens params['port'] (and
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# sets output flow control, which itself requires an open port).
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ser = serial.Serial()
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ser.port = params['port']
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ser.baudrate = params['speed']
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self.drv = Pololu1376(ser)
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def connect(self):
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ok = self.drv.connect()
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self.connected = ok
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return ok
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def disconnect(self):
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self.drv.disconnect()
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self.connected = 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 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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if not self.connected:
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return
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try:
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print("activate {}".format(enable))
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if enable:
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self.drv.go()
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else:
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self.drv.stop()
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except Exception as e:
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# See HeaterHendi.activate()'s own comment: a device that was
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# connected can still fail a live command (cable pulled
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# mid-run, ...) - this is called both from StirrerTask's tick
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# loop (with self.device.open(): activate(True)/(False)) and
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# from a client's Connect/Disconnect command, neither of which
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# expect activate() itself to ever raise.
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print(f"StirrerPololu1376: comm error in activate({enable}): {e}")
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self.disconnect()
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def _on_set_speed(self, speed):
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if not self.connected:
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return
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try:
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self.drv.motor_forward(speed)
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print("Set speed to {} %".format(speed))
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except Exception as e:
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print(f"StirrerPololu1376: comm error in _on_set_speed: {e}")
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self.disconnect()
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def _on_process(self):
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if not self.connected:
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return
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try:
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errors = self.drv.get_status_errors()
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if errors:
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print(f"StirrerPololu1376: motor controller reports errors: {errors!r}")
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if StatusError.SAFE_START_VIOLATION in errors:
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print("Recover after safe start violation!")
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self.drv.go()
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except Exception as e:
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print(f"StirrerPololu1376: comm error in _on_process: {e}")
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self.disconnect()
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if __name__ == '__main__':
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s = StirrerPololu1376(dt=1.0, params={'port': "/dev/ttyACM0", 'speed': 115200})
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s.connect()
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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("Continious operation increasing speed")
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for speed in range (25, 75, 5):
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s.set_duty_cycle(1.0)
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s.set_speed(speed)
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for d in range(0,3,1):
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s.process()
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time.sleep(1.0)
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print("Leaving context")
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