update release v4.2

__init__.py

@@ -0,0 +1 @@
+from .MachineMotion import *

examples/MachineMotionV1/configAxisDirection.py

@@ -27,9 +27,9 @@
 direction = DIRECTION.REVERSE
 mm.configAxisDirection(axis, direction)
 print("Axis " + str(axis) + " is set to " + direction + " mode. It will now home towards " + homesTowards[direction] + "." )
-mm.emitHome(axis)
+mm.moveToHome(axis)
 
 direction = DIRECTION.NORMAL
 mm.configAxisDirection(axis, direction)
 print("Axis " + str(axis) + " is set to " + direction + " mode. It will now home towards " + homesTowards[direction] + "." )
-mm.emitHome(axis)
+mm.moveToHome(axis)

examples/MachineMotionV1/configHomingSpeed.py

@@ -26,9 +26,9 @@
 axis = 1    # The axis to move
 
 print("Moving axis " + str(axis) + " by 100mm.")
-mm.emitRelativeMove(axis, DIRECTION.POSITIVE, 100)
+mm.moveRelative(axis, 100)
 mm.waitForMotionCompletion()
 
 #Homes the axis at the newly configured homing speed.
 print("Homing axis " + str(axis))
-mm.emitHome(axis)
+mm.moveToHome(axis)

examples/MachineMotionV1/getPositions.py

@@ -21,7 +21,7 @@
 
 # Home Axis Before Moving
 print("--> Axis " + str(axis) + " moving home")
-mm.emitHome(axis)
+mm.moveToHome(axis)
 print("--> Axis " + str(axis) + " homed")
 
 
@@ -50,10 +50,9 @@
 
 # Define Motion Parameters
 distance = 500
-move_direction = DIRECTION.POSITIVE
 
 # Move 500mm and check position again
-mm.emitRelativeMove(axis, move_direction, distance)
+mm.moveRelative(axis, distance)
 desiredPosition_axis = mm.getDesiredPositions(axis)
 print("--> Move ongoing")
 print("Desired position of axis " + str(axis) + " is : " + str(desiredPosition_axis) + " mm.")

examples/MachineMotionV1/emitConveyorMove.py → examples/MachineMotionV1/moveContinuous.py

@@ -26,25 +26,25 @@
 
 print("Start Conveyor Move...")
 print("Continuous move: speed 100mm/s & acceleration 50mm/s^2")
-mm.setContinuousMove(conveyor_axis, 100, 50)
+mm.moveContinuous(conveyor_axis, 100, 50)
 time.sleep(5)
 
 # Change speed while moving
 print("Continuous move: speed 500mm/s & acceleration 250mm/s^2")
-mm.setContinuousMove(conveyor_axis, 500, 250)
+mm.moveContinuous(conveyor_axis, 500, 250)
 time.sleep(5)
 
 # Stop the continuous move
-mm.stopContinuousMove(conveyor_axis, conveyor_stop_acc)
+mm.stopMoveContinuous(conveyor_axis, conveyor_stop_acc)
 time.sleep(2)
 
 # Reverse direction of conveyor by changing the sign of the speed
 print("Reverse continuous move: speed -1000mm/s & acceleration 500mm/s^2")
-mm.setContinuousMove(conveyor_axis, -1000, 500)
+mm.moveContinuous(conveyor_axis, -1000, 500)
 time.sleep(5)
 
 # Stop the continuous move
 print("Stop Conveyor Move...")
-mm.stopContinuousMove(conveyor_axis, conveyor_stop_acc)
+mm.stopMoveContinuous(conveyor_axis, conveyor_stop_acc)
 time.sleep(3)
 print("--> Example completed")

examples/MachineMotionV1/emitRelativeMove.py → examples/MachineMotionV1/moveRelative.py

@@ -18,7 +18,14 @@
 
 # Begin Relative Move
 distance = 100 # in mm
-direction = DIRECTION.POSITIVE
-mm.emitRelativeMove(axis, direction, distance)
+mm.moveRelative(axis, distance)
 mm.waitForMotionCompletion()
-print("Axis " + str(axis) + " moved " + str(distance) + "mm in the " + direction + " direction.")
+print("--> Axis " + str(axis) + " moved " + str(distance) + "mm")
+
+# Pass a negative distance value to move in the opposite direction
+distance = -100 # in mm
+mm.moveRelative(axis, distance)
+mm.waitForMotionCompletion()
+print("--> Axis " + str(axis) + " moved " + str(distance) + "mm")
+
+print("--> Example Complete")

examples/MachineMotionV1/emitCombinedAxesRelativeMove.py → examples/MachineMotionV1/moveRelativeCombined.py

@@ -22,8 +22,7 @@
 #   Move axis 2 in the negative direction by 100 mm
 #   Move axis 3 in the positive direction by 50 mm
 distances = [50, 100, 50]
-directions = [DIRECTION.POSITIVE, DIRECTION.POSITIVE, DIRECTION.POSITIVE]
-mm.emitCombinedAxesRelativeMove(axesToMove, directions, distances)
+mm.moveRelativeCombined(axesToMove, distances)
 mm.waitForMotionCompletion()
 for index, axis in enumerate(axesToMove):
-    print("Axis " + str(axis) + " moved " + str(distances[index]) + "mm in the " + directions[index] + " direction.")
+    print("Axis " + str(axis) + " moved " + str(distances[index]) + "mm")

examples/MachineMotionV1/emitHome.py → examples/MachineMotionV1/moveToHome.py

@@ -18,5 +18,5 @@
 
 # Home the actuator
 print ("Axis "+ str(axis) +" is going home")
-mm.emitHome(axis)
+mm.moveToHome(axis)
 print("Axis "+ str(axis) +" is at home")

examples/MachineMotionV1/emitHomeAll.py → examples/MachineMotionV1/moveToHomeAll.py

@@ -16,5 +16,5 @@
 
 ### Home all axes sequentially
 print ("All Axes Moving Home sequentially")
-mm.emitHomeAll()
+mm.moveToHomeAll()
 print("All Axes Homed")

examples/MachineMotionV1/emitAbsoluteMove.py → examples/MachineMotionV1/moveToPosition.py

@@ -2,11 +2,11 @@
 sys.path.append("../..")
 from MachineMotion import *
 
-### This Python example showcases absolute moves with MachineMotion v1. ###
+### This Python example showcases moveToPosition with MachineMotion v1. ###
 
 mm = MachineMotion()
 
-#When starting a program, one must remove the software stop before moving
+# When starting a program, one must remove the software stop before moving
 print("--> Removing software stop")
 mm.releaseEstop()
 print("--> Resetting system")
@@ -17,15 +17,15 @@
 mm.configAxis(axis, MICRO_STEPS.ustep_8, MECH_GAIN.timing_belt_150mm_turn)
 
 # Movement configuration
-position = 100       #The absolute position you'd like to move to
+position = 100       #The position to which you'd like to move
 
-# Home Axis before absolute move
-print("Axis " + str(axis) + " is going home.")
-mm.emitHome(axis)
+# Home Axis before moving to position
+print("Axis " + str(axis) + " is going to home.")
+mm.moveToHome(axis)
 print("Axis " + str(axis) + " homed.")
 
 # Move
-mm.emitAbsoluteMove(axis, position)
+mm.moveToPosition(axis, position)
 print("Axis " + str(axis) + " is moving towards position " + str(position) + "mm.")
 mm.waitForMotionCompletion()
 print("Axis " + str(axis) + " is at position " + str(position) + "mm.")

examples/MachineMotionV1/emitCombinedAxesAbsoluteMove.py → examples/MachineMotionV1/moveToPositionCombined.py

@@ -21,7 +21,7 @@
 
 # Home actuators before performing absolute moves
 print("All Axes Moving Home Sequentially")
-mm.emitHomeAll()
+mm.moveToHomeAll()
 print("All Axes homed.")
 
 ### SIMULTANEOUS ABSOLUTE MOVES OF THREE AXES ###
@@ -30,7 +30,7 @@
 #   Moves axis 2 to absolute position 100mm
 #   Moves axis 3 to absolute position 50mm
 positions = [50, 100, 50]
-mm.emitCombinedAxesAbsoluteMove(axesToMove, positions)
+mm.moveToPositionCombined(axesToMove, positions)
 mm.waitForMotionCompletion()
 for index, axis in enumerate(axesToMove):
     print("Axis " + str(axis) + " moved to position " + str(positions[index]) + "mm")

examples/MachineMotionV1/emitAcceleration.py → examples/MachineMotionV1/setAcceleration.py

@@ -7,5 +7,5 @@
 mm = MachineMotion()
 
 acceleration = 500      # The max acceleration [mm/s^2] that all subsequent moves will move at
-mm.emitAcceleration(acceleration)
+mm.setAcceleration(acceleration)
 print("Global acceleration set to " + str(acceleration) + "mm/s^2.")

examples/MachineMotionV1/setPosition.py

@@ -18,14 +18,14 @@
 
 # Home the actuator
 print("Axis " + str(axis) + " will home")
-mm.emitHome(axis)
+mm.moveToHome(axis)
 print("Axis " + str(axis) + " homed")
 
 ### Perform asolute moves with different reference points ###
 
 print("Absolute Moves are referenced from home")
 position = 100
-mm.emitAbsoluteMove(axis, position)
+mm.moveToPosition(axis, position)
 mm.waitForMotionCompletion()
 print("Axis " + str(axis) + " is " + str(position) + "mm away from home.")
 
@@ -37,6 +37,6 @@
 # Move again
 position2 = 30
 print("Now moving to absolute position " + str(position2) + " mm, referenced from location 'setPosition' was called")
-mm.emitAbsoluteMove(axis, position2)
+mm.moveToPosition(axis, position2)
 mm.waitForMotionCompletion()
 print("Axis " + str(axis) + " is now " + str(position2) + "mm from reference position and " + str(position + position2) + "mm from home")

examples/MachineMotionV1/emitSpeed.py → examples/MachineMotionV1/setSpeed.py

@@ -7,5 +7,5 @@
 mm = MachineMotion()
 
 speed = 500      # The max speed [mm/s] that all subsequent moves will move at
-mm.emitSpeed(speed)
+mm.setSpeed(speed)
 print("Global speed set to " + str(speed) + "mm/s.")

examples/MachineMotionV1/emitStop.py → examples/MachineMotionV1/stopAllMotion.py

@@ -18,14 +18,13 @@
 
 # Configure Move Parameters
 speed = 200
-mm.emitSpeed(speed)
+mm.setSpeed(speed)
 
 # Begin Relative Move
 distance = 1000
-direction = DIRECTION.POSITIVE
-mm.emitRelativeMove(axis, direction, distance)
-print("Axis " + str(axis) + " is moving " + str(distance) + "mm in the " + direction + " direction.")
+mm.moveRelative(axis, distance)
+print("Axis " + str(axis) + " is moving " + str(distance) + "mm")
 # This move should take 5 seconds to complete (distance/speed). Instead, we wait 2 seconds and then stop the machine.
 time.sleep(2)
-mm.emitStop()
+mm.stopAllMotion()
 print("Axis " + str(axis) + " stopped.")

examples/MachineMotionV1/waitForMotionCompletion.py

@@ -18,10 +18,9 @@
 
 # Move the axis by 100mm
 distance = 100
-direction = DIRECTION.POSITIVE
 
 print("Moving %d mm!"  % distance)
-mm.emitRelativeMove(axis, direction, distance)
+mm.moveRelative(axis, distance)
 print("This message gets printed immediately")
 mm.waitForMotionCompletion()
 print("This message gets printed once machine has finished moving")

examples/MachineMotionV2/configHomingSpeed.py

@@ -4,7 +4,7 @@
 
 ### This Python example configures homing speed for MachineMotion v2. ###
 
-mm = MachineMotion(machineMotionHwVersion=MACHINEMOTION_HW_VERSIONS.MMv2)
+mm = MachineMotionV2()
 
 # When starting a program, one must remove the software stop before moving
 print("--> Removing software stop")
@@ -26,9 +26,11 @@
 axis = 1    # The axis to move
 
 print("Moving axis " + str(axis) + " by 100mm.")
-mm.emitRelativeMove(axis, DIRECTION.POSITIVE, 100)
+mm.moveRelative(axis, 100)
 mm.waitForMotionCompletion()
 
 #Homes the axis at the newly configured homing speed.
 print("Homing axis " + str(axis))
-mm.emitHome(axis)
+
+mm.moveToHome(axis)
+mm.waitForMotionCompletion()

examples/MachineMotionV2/configMultiDriveServo.py

@@ -0,0 +1,36 @@
+import sys
+sys.path.append("../..")
+from MachineMotion import *
+
+### This Python example configures and moves a multi-drive axis. ###
+
+### Multiple motors that are mechanically linked can now be treated
+### as though they are a single axis. Once propely configured,
+### multi-drive axes can be moved just as with single-drive axes.
+
+### Machine Motion declaration
+mm = MachineMotionV2()
+
+### If not on a conveyor, the parent drive must have home and end sensors.
+### The child drive's sensors will be ignored.
+parent = 1
+parentDirection = DIRECTION.NORMAL
+child = 2
+childDirection = DIRECTION.NORMAL
+
+mechGain = MECH_GAIN.timing_belt_150mm_turn
+motorCurrent = 5.0 # Current (A)
+
+print("--> Configuring parent drive " + str(parent) + " with child " + str(child))
+
+### Configure your multi-drive axis by passing the list of drives, directions and parent drive.
+mm.configServo([parent, child], mechGain, [parentDirection, childDirection], motorCurrent, parentDrive = parent)
+
+### The parent and child drives are now linked.
+### Control the multi-drive axis via the parent drive:
+
+print("--> Multi-drive axis is moving relative by 200mm!")
+mm.moveRelative(parent, 200)
+mm.waitForMotionCompletion()
+
+print("--> Example Complete!")

examples/MachineMotionV2/configStepperServo.py

@@ -4,7 +4,7 @@
 
 ### This Python example configures actuators for a MachineMotion v2. ###
 
-mm = MachineMotion(machineMotionHwVersion=MACHINEMOTION_HW_VERSIONS.MMv2)
+mm = MachineMotionV2()
 
 # When starting a program, one must remove the software stop before moving
 print("--> Removing software stop")

examples/MachineMotionV2/controlBrakes.py

@@ -4,7 +4,7 @@
 
 ### This Python example control brakes on MachineMotion v2. ###
 
-mm = MachineMotion(machineMotionHwVersion=MACHINEMOTION_HW_VERSIONS.MMv2)
+mm = MachineMotionV2()
 
 # When starting a program, one must remove the software stop before moving
 print("--> Removing software stop")

examples/MachineMotionV2/digitalRead.py

@@ -4,7 +4,7 @@
 
 ### This Python example reads digital inputs for MachineMotion v2. ###
 
-mm = MachineMotion(machineMotionHwVersion=MACHINEMOTION_HW_VERSIONS.MMv2)
+mm = MachineMotionV2()
 
 # Detect all connected digital IO Modules
 detectedIOModules = mm.detectIOModules()

examples/MachineMotionV2/digitalWrite.py

@@ -4,7 +4,7 @@
 
 ### This Python example writes digital outputs for MachineMotion v2. ###
 
-mm = MachineMotion(machineMotionHwVersion=MACHINEMOTION_HW_VERSIONS.MMv2)
+mm = MachineMotionV2()
 
 # Detect all connected digital IO Modules
 detectedIOModules = mm.detectIOModules()

examples/MachineMotionV2/eStop.py

@@ -8,7 +8,7 @@
 ### MachineMotion CONFIGURATION ###
 
 # Create MachineMotion instance
-mm = MachineMotion(machineMotionHwVersion=MACHINEMOTION_HW_VERSIONS.MMv2)
+mm = MachineMotionV2()
 time.sleep(0.1) # Wait to initialize internal eStop topics.
 
 # Define a callback to process estop status

examples/MachineMotionV2/getEndStopState.py

@@ -4,7 +4,7 @@
 
 ### This Python example showcases how to read enstop sensor states with MachineMotion v2. ###
 
-mm = MachineMotion(machineMotionHwVersion=MACHINEMOTION_HW_VERSIONS.MMv2)
+mm = MachineMotionV2()
 
 # When starting a program, one must remove the software stop
 print("--> Removing software stop")

examples/MachineMotionV2/getPositions.py

@@ -6,7 +6,7 @@
 
 ###### CONFIGURING MACHINEMOTION ######
 
-mm = MachineMotion(machineMotionHwVersion=MACHINEMOTION_HW_VERSIONS.MMv2)
+mm = MachineMotionV2()
 
 # When starting a program, one must remove the software stop before moving
 print("--> Removing software stop")
@@ -21,7 +21,8 @@
 
 # Home Axis Before Moving
 print("--> Axis " + str(axis) + " moving home")
-mm.emitHome(axis)
+mm.moveToHome(axis)
+mm.waitForMotionCompletion()
 print("--> Axis " + str(axis) + " homed")
 
 
@@ -44,10 +45,9 @@
 
 # Define Motion Parameters
 distance = 100
-move_direction = DIRECTION.POSITIVE
 
 # Move 100mm and check position again
-mm.emitRelativeMove(axis, move_direction, distance)
+mm.moveRelative(axis, distance)
 print("--> Move ongoing")
 while not mm.isMotionCompleted():
     actualPosition_axis  = mm.getActualPositions(axis)