Source code for device.langmuir_motors

from . import base




class LangmuirMotors(base.ArduinoMotorsBase):

    def __init__(self, calibfile, buses=None, limits_enabled=True, **kwargs):
        super().__init__(calibfile, buses, limits_enabled, **kwargs)
        self._valve_open = False

    # ==== Inherited abstract methods ====

    def _connect(self):
        if super()._connect():
            self._valve_open = False
            return True
        else:
            return False

    def _disconnect(self):
        self.close_valve()
        return super()._disconnect()

    # ==== Private commands ====

    @base.base_command
    def _toggle_valve(self):
        self._ardu["T"].write(b"v")  # Toggle valve state
        if self._read_serial("T") == "":
            raise base.TransmissionError("Expected a response (action 'v')")
        self._valve_open = not self._valve_open

    # ==== Commands ====



    def is_valve_open(self):
        """Return the state of the valve."""
        return self._valve_open




    @base.base_command
    def open_valve(self):
        """Open valve (if not open)."""
        if not self.is_valve_open():
            self._toggle_valve()




    @base.base_command
    def close_valve(self):
        """Close valve (if not closed)."""
        if self.is_valve_open():
            self._toggle_valve()