1 files changed, 76 insertions, 0 deletions
diff --git a/MotionControl/Axis.py b/MotionControl/Axis.py
index e69de29..ff8c900 100644
--- a/MotionControl/Axis.py
+++ b/MotionControl/Axis.py
@@ -0,0 +1,76 @@
+# -*- coding: utf8 -*-
+
+class Axis(object):
+	def __init__(self, inverted = False, scale={}):
+		self.inverted = inverted
+		self.scale = scale
+		self.position = None
+		self.running = None
+		self.initializing = None
+		self.initialized = None
+		self.initiator_minus = None
+		self.initiator_plus = None
+		self.initiator_error = None
+		self.temperature_warning = None
+		self.onPosition = Signal()
+		self.onStarted = Signal()
+		self.onStopped = Signal()
+		self.onInitializing = Signal()
+		self.onInitialized = Signal()
+		self.onInitiatorMinus = Signal()
+		self.onInitiatorPlus = Signal()
+		self.onInitiatorError = Signal()
+		self.onTemperatureWarning = Signal()
+	
+	def update(self):
+		last_position = self.position
+		last_running = self.running
+		last_initializing = self.initializing
+		last_initialized = self.initialized
+		last_initiator_minus = self.initiator_minus
+		last_initiator_plus = self.initiator_plus
+		last_initiator_error = self.initiator_error
+		last_temperature_warning = self.temperature_warning
+
+		self.do_update()
+
+		if last_position != self.position:
+			self.onPosition.send(position = self.position)
+
+		if last_running != self.running:
+			if self.running:
+				self.onStarted.send()
+			else:
+				self.onStopped.send()
+
+		if last_initializing != self.initializing:
+			self.onInitializing.send(self, initializing = self.initializing)
+
+		if last_initialized != self.initialized:
+			self.onInitialized.send(self, initialized = self.initialized)
+
+		if last_initiator_minus != self.initiator_minus:
+			self.onInitiatorMinus.send(self, active = self.initiator_minus)
+
+		if last_initiator_plus != self.initiator_plus:
+			self.onInitiatorPlus.send(self, active = self.initiator_plus)
+
+		if last_initiator_error != self.initiator_error:
+			self.onInitiatorError.send(self, error = self.initiator_error)
+
+		if last_temperature_warning != self.temperature_warning:
+			self.onTemperatureWarning.send(self, warning = self.temperature_warning)
+
+	def wait_for_stop(self):
+		self.update()
+		while self.running:
+			self.update()
+
+	def initiate(self):
+		raise NotImplementedError()
+
+	def goto_absolute(self, target, speed = None):
+		raise NotImplementedError()
+
+	def goto_relative(self, offset, speed = None):
+		raise NotImplementedError()