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__init__(self,
cortex,
icu_num,
axis_num,
base_speed,
max_speed,
acceleration,
deceleration,
position,
name='mechanism')
Initialiser for mechanism class. |
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getMotorParams(self)
Returns a tuple of the four motor motion parameters, baseSpeed, maxSpeed, acceleration, deceleration. |
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getPosition(self)
Returns the current motor position. |
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moveBy(self,
steps,
blocking=True)
Initiates a movement of the mechanism by a given number of steps. |
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moveTo(self, new_position, blocking=True) | |||
setMotorParams(self,
baseSpeed,
maxSpeed,
acceleration,
deceleration)
Sets the four motor motion parameters, baseSpeed, maxSpeed, acceleration and deceleration. |
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setPosition(self,
new_position=0)
Defines the current mechanism position to be equal to the single integer argument. |
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updateConfig(self,
config)
Should be called by the parent instrument object's destructor to enable status information to be saved to file on exit. |
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Initialiser for mechanism class. Arguments: cortex: 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. |
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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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