1  from mechanism import mechanism 
 2   
 3 -class wheel(mechanism): 
 4      """ 
 5      Class represent a filter or mask wheel mechanism, based on the generic 
 6      mechanism class mechanism.  Many added features. 
 7      """ 
 8 -    def __init__(self, cortex, icu_num, axis_num, \ 
 9                   base_speed, max_speed, acceleration, deceleration, \ 
10                   position, steps_per_rev, num_positions, \ 
11                   name='mechanism'): 
12          """ 
13          Initialiser for mechanism class. 
14   
15          Arguments: 
16              cortex:       String containing the name of the cortex based 
17                            ICU daisy chain instance that this mechanism is a 
18                            part of. 
19              icuNum:       Which ICU in the chain this mechanism is connected 
20                            to. 
21              axisNum:      Which axis of the ICU the mechansism is connected 
22                            to. 
23              baseSpeed:    Starting speed (steps/half steps per sec?) 
24              maxSpeed:     Peak speed (steps/half steps per sec?) 
25              acceleration: Acceleration (steps/half steps per sec^2?) 
26              deceleration: Deceleration (steps/half steps per sec^2?) 
27              position:     Initial position of the mechanism (steps) 
28              steps_per_rev:Number of motor steps per revolution of the wheel 
29              num_positions:Number of filters/masks in the wheel 
30              name:         Label used for logging purposes. 
31          """ 
32