Source code for device.magnets_motors

from . import base




class MagnetsMotors(base.ArduinoMotorsBase):

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

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

    def _defaultstate(self):
        self._position = {key: 0 for key in self._ardu}

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

    # Overriding parent function - There are no sensors of position so we need
    # to manage the self._position property manually.
    @base.compound_command
    def _move(self, motor_id, distance, check_limits=True):
        super()._move(motor_id, distance, check_limits)
        self._position[motor_id] += distance

    # Overriding parent function - --""--


    @base.compound_command
    def homing(self):
        """Execute homing procedure for each of the motors."""
        super().homing()
        for motor_id in self._ardu:
            self._position[motor_id] = 0



    # ==== Private commands ====


    # ==== Commands ====



    @base.compound_command
    def wire_moveto(self, position):
        """Move WIRE to position [mm]."""
        self.moveto("D", position)




    @base.compound_command
    def probe_moveto(self, position):
        """Move motorized PROBE to position [mm]."""
        self.moveto("C", position)


    # ==== Related to DeviceClient ====



    def update_frontend(self, device_client):
        for key, name in [("D", "Wire"), ("C", "Probe")]:
            self._idleupdate_position(key)  # This serves no purpose (no position sensors)

            value = self._position[key]
            device_client.emit("value", {
                "value": value,
                "formatted": "{:.2f} mm".format(value),
                "label": name,
                "min": min(self.limits(key)),
                "max": max(self.limits(key)),
                "id": "position_" + key
            })