Devices Package

This is the documentation concerned with controlling an Axis/Axes.

Axis Module

class commanduino.devices.axis.Axis(linear_actuator, unit_per_step=1, min_position=0, max_position=inf)

Bases: object

Represents a singular Axis which devices can move along.

Args:

linear_actuator: The linear actuator which moves along the axis.

unit_per_step (int): Amount of units to move per step, default set to 1

min_position (int): Minimum position of the axis, default set to 0

max_position (str): The maximum position of hte axis, cast to (float)

cast_position(position_in_unit)

Casts the position on the axis.

Args:

position_in_unit (int): Position in units.

Returns:

casted_position (int): The casted position.

get_current_position()

Gets the current position on the axis.

Returns:

self.step_to_position (int): THe position of the linear actuator.

get_switch_state()

Gets the switch state of the linear actuator.

Returns:

The switch state of the linear actuator.

home(wait=True)

Returns the actuator to the home position.

Args:

wait (bool): Wait until the actuator is idle, default set to True

initialize()

Initialises the axis.

is_initialized()

Check for initialisation.

Returns:

self.initialized (bool): Initialisation status

is_moving()

Check for axis movement.

Returns:

self.linear_actuator.is_moving (bool): The actuator movement status.

move(delta_position_in_unit, wait=True, force=False)

Moves the linear actuator.

Args:

delta_position_in_unit (int): The amount to move.

wait (bool): Wait until the linear actuator is idle, default set to True.

force (bool):Force the movement, default set to False.

move_to(position_in_unit, wait=True, force=False)

Moves the linear actuator to a set position.

Args:

position_in_unit (int): Position to move to.

wait (bool): Wait until the actuator is idle, default set to True.

force (bool): Force the movement, default set to False.

position_to_step(position_in_unit)

Converts position to steps.

Args:

position_in_unit (int): Position in Units.

Returns:

n_steps (int): Number of steps.

step_to_position(n_steps)

Comverts steps to position.

Args:

n_steps (int): Number of steps.

Returns:

n_steps * units_per_step

stop()

Stops the linear actuator.

wait_until_idle()

Waits until the linear actuator is idle.

class commanduino.devices.axis.MultiAxis(*args)

Bases: object

Represents a collection of Axis objects which device can move along.

Args:

*args: Variable argument list.

get_current_position()

Gets the current position of the axes.

Returns:

position (List): List of the positions.

get_switch_state()

Gets the switch state of the axes.

Returns:

switch_state (List): List of the switch states.

home(wait=True)

Returns the axes to their home position.

Args:

wait (bool): Wait until the axes are idle, default set to True.

initialize()

Initialises the set of axes.

is_initialized()

Gets the initialisation status of the devices.

Returns:

self.initialised (bool): The initialisation status.

is_moving()

Check for movement along the axes.

Returns:

True (bool): The axes are moving.

False (bool): The axes are not moving.

move(position_array_in_unit, wait=True, force=False)

Moves the axes.

Args:

position_array_in_unit (int): The amount to move.

wait (bool): Wait until the axes are idle, default set to True.

force (bool): Force the movement of the axes, default set to False.

move_to(position_array_in_unit, wait=True, force=False)

Moves the axes to a set position.

Args:

position_array_in_unit (int): The position to move to.

wait (bool): Wait until the axes are idle, default set to True.

force (bool): Force the movement of the axes, default se tto False.

stop()

Stops all movement in the axes.

wait_until_idle()

Waits until the axes are idle.