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add move_at_speed command #5

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Merged
arMaNi843739 merged 1 commit into from
Jun 23, 2023
Merged

add move_at_speed command #5

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21 changes: 20 additions & 1 deletion stackshot_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
import ctypes
import usb.core

from .commdefs import *
from commdefs import *
from pyftdi.ftdi import Ftdi

def float2uint(data: float):
Expand Down Expand Up @@ -117,6 +117,25 @@ def move(self, axis: RailAxis, dir: RailDir, dist: float):

self.send_command(axis, Cmd.RAIL_MOVE, Action.WRITE, data, 7)

def move_at_speed(self, axis: RailAxis, dir: RailDir, dist: float, speedPercent: float):
castedDist = float2uint(dist)
castedSpeedPercent = float2uint(speedPercent)

data = bytearray()
data.extend(int(dir).to_bytes(1, 'big'))
data.extend(int(self.units).to_bytes(1, 'big'))
data.extend(( castedDist & 0x0FF).to_bytes(1, 'big'))
data.extend(((castedDist >> 8) & 0x0FF).to_bytes(1, 'big'))
data.extend(((castedDist >> 16) & 0x0FF).to_bytes(1, 'big'))
data.extend(((castedDist >> 24) & 0x0FF).to_bytes(1, 'big'))

data.extend(( castedSpeedPercent & 0x0FF).to_bytes(1, 'big'))
data.extend(((castedSpeedPercent >> 8) & 0x0FF).to_bytes(1, 'big'))
data.extend(((castedSpeedPercent >> 16) & 0x0FF).to_bytes(1, 'big'))
data.extend(((castedSpeedPercent >> 24) & 0x0FF).to_bytes(1, 'big'))

self.send_command(axis, Cmd.RAIL_MOVE_AT_SPEED, Action.WRITE, data, 10)

def stop(self, axis: RailAxis):
self.send_command(axis, Cmd.RAIL_STOP, Action.WRITE, None, 0)

Expand Down