97 lines
2.0 KiB
Python
97 lines
2.0 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)
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ser = serial.Serial(params['port'], params['speed'])
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ser.set_output_flow_control(False)
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self.drv = Pololu1376(ser)
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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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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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def _on_set_speed(self, speed):
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self.drv.motor_forward(speed)
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print("Set speed to {} %".format(speed))
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def _on_process(self):
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#s print("STATUS :")
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# self.drv.print_vars()
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status = self.drv.get_variable(Varid.STATUS)
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limit_status = self.drv.get_variable(Varid.STATUS_LIMIT_STATUS)
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print("Status={:02X}".format(status))
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if status & 0x01 == 0x01:
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if limit_status & 0x01 == 0x01:
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print("Recover after motor error!")
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self.drv.go()
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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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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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