poolmotor

This module is part of the Python Pool libray. It defines the base classes for

Classes

PoolMotor

PoolMotor

class PoolMotor(**kwargs)

Bases: sardana.pool.poolelement.PoolElement

An internal Motor object. NOT part of the official API. Accessing this object from a controller plug-in may lead to undetermined behavior like infinite recursion.

on_change(evt_src, evt_type, evt_value)

calculate_state_info(state_info=None)

Transforms the given state information. This specific base implementation transforms the given state,status tuple into a state, new_status tuple where new_status is “self.name is state plus the given status. It is assumed that the given status comes directly from the controller status information.

Parameters:status_info (tuple<State, str>) – given status information [default: None, meaning use current state status. Returns:a transformed state information Return type:tuple<State, str>

inspect_limit_switches()

returns the current (cached value of the limit switches

Returns:the current limit switches flags

get_limit_switches(cache=True, propagate=1)

Returns the motor limit switches state.

Parameters:

• cache (bool) – if True (default) return value in cache, otherwise read value from hardware
• propagate (int) – 0 for not propagating, 1 to propagate, 2 propagate with priority

Returns:

the motor limit switches state

Return type:

SardanaAttribute

set_limit_switches(ls, propagate=1)

put_limit_switches(ls, propagate=1)

limit_switches

motor limit switches

has_instability_time(cache=True)

get_instability_time(cache=True)

set_instability_time(instability_time, propagate=1)

instability_time

motor instability time

has_backlash(cache=True)

is_backlash_positive(cache=True)

is_backlash_negative(cache=True)

get_backlash(cache=True)

set_backlash(backlash, propagate=1)

backlash

motor backlash

get_offset_attribute()

get_offset(cache=True)

set_offset(offset, propagate=1)

offset

motor offset

get_sign_attribute()

get_sign(cache=True)

set_sign(sign, propagate=1)

sign

motor sign

get_step_per_unit(cache=True, propagate=1)

set_step_per_unit(step_per_unit, propagate=1)

read_step_per_unit()

step_per_unit

motor steps per unit

get_acceleration(cache=True, propagate=1)

set_acceleration(acceleration, propagate=1)

read_acceleration()

acceleration

motor acceleration

get_deceleration(cache=True, propagate=1)

set_deceleration(deceleration, propagate=1)

read_deceleration()

deceleration

motor deceleration

get_base_rate(cache=True, propagate=1)

set_base_rate(base_rate, propagate=1)

read_base_rate()

base_rate

motor base rate

get_velocity(cache=True, propagate=1)

set_velocity(velocity, propagate=1)

read_velocity()

velocity

motor velocity

define_position(position)

get_position_attribute()

Returns the position attribute object for this motor

Returns:the position attribute Return type:SardanaAttribute

get_position(cache=True, propagate=1)

Returns the user position.

Parameters:

• cache (bool) – if True (default) return value in cache, otherwise read value from hardware
• propagate (int) – 0 for not propagating, 1 to propagate, 2 propagate with priority

Returns:

the user position

Return type:

SardanaAttribute

set_position(position)

Moves the motor to the specified user position

Parameters:position (Number) – the user position to move to

set_write_position(w_position, timestamp=None, propagate=1)

Sets a new write value for the user position.

Parameters:

• w_position (Number) – the new write value for user position
• propagate (int) – 0 for not propagating, 1 to propagate, 2 propagate with priority

read_dial_position()

Reads the dial position from hardware.

Returns:a SardanaValue containing the dial position Return type:SardanaValue

put_dial_position(dial_position_value, propagate=1)

Sets a new dial position.

Parameters:

• dial_position_value (SardanaValue) – the new dial position value
• propagate (int) – 0 for not propagating, 1 to propagate, 2 propagate with priority

get_dial_position_attribute()

Returns the dial position attribute object for this motor

Returns:the dial position attribute Return type:SardanaAttribute

get_dial_position(cache=True, propagate=1)

Returns the dial position.

Parameters:

• cache (bool) – if True (default) return value in cache, otherwise read value from hardware
• propagate (int) – 0 for not propagating, 1 to propagate, 2 propagate with priority

Returns:

the dial position

Return type:

SardanaAttribute

position

motor user position

dial_position

motor dial position

get_default_attribute()

get_motion()

motion

motion object

calculate_motion(new_position, items=None, calculated=None)

Calculate the motor position, dial position, backlash for the given final position. Items specifies the where to put the calculated values, calculated is not used by physical motors

start_move(new_position)