Merge pull request #213 from SiLab-Bonn/motorstage

Improvements for mercury driver

basil/HL/mercury.py

@@ -5,6 +5,11 @@
 # ------------------------------------------------------------
 #
 from basil.HL.RegisterHardwareLayer import HardwareLayer
+import logging
+import time
+
+logger = logging.getLogger(__name__)
+# logger.setLevel(logging.DEBUG)
 
 
 class Mercury(HardwareLayer):
@@ -15,8 +20,8 @@ class Mercury(HardwareLayer):
     Therefore '\x03' has to be set a read termination in the transport layer! And a read termination
     of 0.1 s should be set!
     Despite the manual telling SCPI compatibility, this is not correct for our devices with our
-    firmware.
-    '''
+    firmware. The manual explaining every "native" command: https://twiki.cern.ch/twiki/pub/ILCBDSColl/Phase2Preparations/MercuryNativeCommands_MS176E101.pdf
+    The overall manual: https://www.le.infn.it/~chiodini/allow_listing/pi/Manuals/C-863_Benutzerhandbuch_Kurzversion_MS205Dqu200.pdf'''
 
     def __init__(self, intf, conf):
         super(Mercury, self).__init__(intf, conf)
@@ -48,6 +53,21 @@ def get_address(self, address):
         self._write_command("TB", address)
         return self.read()
 
+    def motor_on(self, address=None):
+        self._write_command("MN", address)
+
+    def motor_off(self, address=None):
+        self._write_command("MF", address)
+
+    def LL(self, address=None):  # logic active low
+        self._write_command("LL", address)
+
+    def set_home(self, address=None):  # Defines the current position as 0
+        self._write_command("DH", address)
+
+    def go_home(self, address=None):  # Moves motor to zero position
+        self._write_command("GH", address)
+
     def get_position(self, address=None):
         self._write_command("TP", address)
         return int(self.read()[2:-3])
@@ -56,8 +76,42 @@ def get_channel(self, address=None):
         self._write_command("TS", address)
         return self.read()
 
-    def set_position(self, value, address=None):
+    def set_position(self, value, precision=100, address=None, wait=False):
         self._write_command("MA%d" % value, address)
+        if wait is True:
+            pos = self._wait(address)
+            if abs(pos - value) <= precision:
+                logger.debug("At position {pos}, Target at {target}".format(pos=pos, target=value))
+            else:
+                logger.warning("Target not reached! Target: {target}, actual position: {pos}, precision: {pre}".format(target=value, pos=pos, pre=precision))
 
-    def move_relative(self, value, address=None):
+    def move_relative(self, value, precision=100, address=None, wait=False):
+        target = self.get_position(address=1) + value
         self._write_command("MR%d" % value, address)
+        if wait is True:
+            pos = self._wait(address)
+            if abs(pos - target) <= precision:
+                logger.debug("At position {pos}, Target at {target}".format(pos=pos, target=target))
+            else:
+                logger.warning("Target not reached! Target: {target}, actual position: {pos}, precision: {pre}".format(target=target, pos=pos, pre=precision))
+
+    def abort(self, address=None):
+        self._write_command("AB", address)
+
+    def find_edge(self, n, address=None):
+        self._write_command("FE%d" % n, address)
+        pos = self._wait(address)
+        logger.debug("Edge found at position: {pos}".format(pos=pos))
+
+    def _wait(self, address=None):  # waits until motor stops moving
+        logger.debug("Moving! Starting position: {pos}".format(pos=self.get_position(address)))
+        done = False
+        while done is False:
+            a = self.get_position(address)
+            time.sleep(1)
+            b = self.get_position(address)
+            if a == b:
+                done = True
+            else:
+                time.sleep(0.5)
+        return b

examples/lab_devices/MotorStage.py

@@ -8,10 +8,33 @@
 ''' This script shows how to use a Motor Stage
 '''
 
-
+import time
 from basil.dut import Dut
 
 dut = Dut('mercury_pyserial.yaml')
 dut.init()
-print(dut["MotorStage"].get_position())
-# dut["MotorStage"].set_position(100000)
+
+# setup (for c-862)
+# needed if mercury is connected the first time after power up
+# MN Motor=on
+# LL: switch logic active low (hardware)
+
+dut["MotorStage"].motor_on(address=1)
+time.sleep(0.1)
+dut["MotorStage"].LL(address=1)
+time.sleep(0.1)
+
+# move to absolute position 10000:
+# dut["MotorStage"].set_position(10000, address=1, wait=True)
+
+# get position:
+# print(dut["MotorStage"].get_position(address=1))
+
+# move relative 10000:
+dut["MotorStage"].move_relative(10000, address=1, wait=True)
+
+# finding edge example:
+# dut["MotorStage"].find_edge(1,address=1)  # 0 or 1 indicates direction of movement
+
+# abort any movement abruptly:
+# dut["MotorStage"].abort(address=1)