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Methods defined here:
- __init__(self, cortex, icu_num, axis_num, base_speed, max_speed, acceleration, deceleration, position, name='mechanism')
- Initialiser for mechanism class.
Arguments:
cortex: String containing the name of the cortex based
ICU daisy chain instance that this mechanism is a
part of.
icuNum: Which ICU in the chain this mechanism is connected
to.
axisNum: Which axis of the ICU the mechansism is connected
to.
baseSpeed: Starting speed (steps/half steps per sec?)
maxSpeed: Peak speed (steps/half steps per sec?)
acceleration:Acceleration (steps/half steps per sec^2?)
deceleration:Deceleration (steps/half steps per sec^2?)
position: Initial position of the mechanism (steps)
name: Label used for logging purposes.
- getMotorParams(self)
- Returns a tuple of the four motor motion parameters, baseSpeed,
maxSpeed, acceleration, deceleration.
- getPosition(self)
- Returns the current motor position.
- moveBy(self, steps, blocking=True)
- Initiates a movement of the mechanism by a given number of steps.
Second, optional, boolean argument specifies whether the call
should block until the movement has been completed or return
immediately (default is True).
- moveTo(self, new_position, blocking=True)
- setMotorParams(self, baseSpeed, maxSpeed, acceleration, deceleration)
- Sets the four motor motion parameters, baseSpeed, maxSpeed,
acceleration and deceleration. Takes 4 integer arguments.
- setPosition(self, new_position=0)
- Defines the current mechanism position to be equal to the single
integer argument. If no argument is given, the mechanism position
is zeroed.
- updateConfig(self, config)
- Should be called by the parent instrument object's destructor
to enable status information to be saved to file on exit.
Takes a ConfigParserRT.SafeConfigParser object as argument.
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