mercury examples

basil/HL/mercury.py

@@ -15,8 +15,8 @@ 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)
@@ -44,11 +44,27 @@ def _write_command(self, command, address=None):
             for a in self._addresses:
                 self.write(bytearray.fromhex("01%d" % (a + 30)) + command.encode())
 
+
     def get_address(self, address):
         self._write_command("TB", address)
         return self.read()
 
-    def get_position(self, address=None):
+    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])
 
@@ -61,3 +77,10 @@ def set_position(self, value, address=None):
 
     def move_relative(self, value, address=None):
         self._write_command("MR%d" % value, address)
+
+    def abort(self, address=None):
+        self._write_command("AB", address)
+
+    def find_edge(self, n, address=None):
+        self._write_command("FE%d" % n, address)
+

examples/lab_devices/MotorStage.py

@@ -8,10 +8,58 @@
 ''' 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)
+#####################################
+
+
+def wait_pos(target,precision,address): #waits/prints position until desired precision is reached 
+    print("Moving motore from:",dut["MotorStage"].get_position(address),"to" ,target) #absolute target
+    done=False
+    while done is False:
+        pos=dut["MotorStage"].get_position(address)
+        print("motor at",pos,"moving to",target)
+        if abs(pos-target)<= precision:
+            done=True
+        else:
+            time.sleep(0.5)
+    return pos
+
+
+######################examples
+
+#print(dut["MotorStage"].get_channel(address=1),"status") # prints status code
+#time.sleep(2)
+
+########### example  of an absoulute movement using sleep
+
+print(dut["MotorStage"].get_position(address=1),"position before") #print position before movement
+
+dut["MotorStage"].set_position(10000,address=1) #absolute movement
+
+time.sleep(10) #wait for movement
+
+print(dut["MotorStage"].get_position(address=1),"position after") #print position after movement
+
+########### example of an relative movement using wait_pos
+
+#move_r=20000     #relative movement of 20000
+#target = dut["MotorStage"].get_position(address=1)+move_r #wait_pos needs absolute target
+
+#dut["MotorStage"].move_relative(move_r,address=1) #relative movement
+#wait_pos(target,500,1) #wait/print movement
+
+########### abort any movement abruptly:
+#dut["MotorStage"].abort(address=1)