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Add support for 88008 motor to allow setting speed and position #165

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Merged
merged 1 commit into from
Sep 6, 2022
Merged

Add support for 88008 motor to allow setting speed and position #165

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31 changes: 24 additions & 7 deletions buildhat/motors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,14 @@ def __init__(self, port):
super().__init__(port)
self.default_speed = 20
self._currentspeed = 0
self.mode([(1, 0), (2, 0), (3, 0)])
if self._typeid in {38}:
self.mode([(1, 0), (2, 0)])
self._combi = "1 0 2 0"
self._noapos = True
else:
self.mode([(1, 0), (2, 0), (3, 0)])
self._combi = "1 0 2 0 3 0"
self._noapos = False
self.plimit(0.7)
self.bias(0.3)
self._release = True
Expand Down Expand Up @@ -160,7 +167,10 @@ def _run_to_position(self, degrees, speed, direction):
self._runmode = MotorRunmode.DEGREES
data = self.get()
pos = data[1]
apos = data[2]
if self._noapos:
apos = pos
else:
apos = data[2]
diff = (degrees - apos + 180) % 360 - 180
newpos = (pos + diff) / 360
v1 = (degrees - apos) % 360
Expand Down Expand Up @@ -192,7 +202,7 @@ def _run_positional_ramp(self, pos, newpos, speed):
# Collapse speed range to -5 to 5
speed *= 0.05
dur = abs((newpos - pos) / speed)
cmd = (f"port {self.port}; combi 0 1 0 2 0 3 0 ; select 0 ; pid {self.port} 0 1 s4 0.0027777778 0 5 0 .1 3 ; "
cmd = (f"port {self.port}; combi 0 {self._combi} ; select 0 ; pid {self.port} 0 1 s4 0.0027777778 0 5 0 .1 3 ; "
f"set ramp {pos} {newpos} {dur} 0\r")
self._write(cmd)
with self._hat.rampcond[self.port]:
Expand Down Expand Up @@ -248,7 +258,7 @@ def run_to_position(self, degrees, speed=None, blocking=True, direction="shortes

def _run_for_seconds(self, seconds, speed):
self._runmode = MotorRunmode.SECONDS
cmd = (f"port {self.port} ; combi 0 1 0 2 0 3 0 ; select 0 ; pid {self.port} 0 0 s1 1 0 0.003 0.01 0 100; "
cmd = (f"port {self.port} ; combi 0 {self._combi} ; select 0 ; pid {self.port} 0 0 s1 1 0 0.003 0.01 0 100; "
f"set pulse {speed} 0.0 {seconds} 0\r")
self._write(cmd)
with self._hat.pulsecond[self.port]:
Expand Down Expand Up @@ -298,7 +308,7 @@ def start(self, speed=None):
raise MotorError("Invalid Speed")
cmd = f"port {self.port} ; set {speed}\r"
if self._runmode == MotorRunmode.NONE:
cmd = (f"port {self.port} ; combi 0 1 0 2 0 3 0 ; select 0 ; pid {self.port} 0 0 s1 1 0 0.003 0.01 0 100; "
cmd = (f"port {self.port} ; combi 0 {self._combi} ; select 0 ; pid {self.port} 0 0 s1 1 0 0.003 0.01 0 100; "
f"set {speed}\r")
self._runmode = MotorRunmode.FREE
self._currentspeed = speed
Expand All @@ -324,7 +334,10 @@ def get_aposition(self):
:return: Absolute position of motor from -180 to 180
:rtype: int
"""
return self.get()[2]
if self._noapos:
raise MotorError("No absolute position with this motor")
else:
return self.get()[2]

def get_speed(self):
"""Get speed of motor
Expand All @@ -346,7 +359,11 @@ def when_rotated(self):
return self._when_rotated

def _intermediate(self, data):
speed, pos, apos = data
if self._noapos:
speed, pos = data
apos = None
else:
speed, pos, apos = data
if self._oldpos is None:
self._oldpos = pos
return
Expand Down