1 files changed, 59 insertions, 0 deletions
diff --git a/MotionControl/PhytronAxis.py b/MotionControl/PhytronAxis.py
new file mode 100644
index 0000000..80e1c47
--- /dev/null
+++ b/MotionControl/PhytronAxis.py
@@ -0,0 +1,59 @@
+# -*- coding: utf8 -*-
+
+from Axis import Axis
+
+class PhytronAxis(Axis):
+	INITIATOR_MINUS = 1
+	INITIATOR_PLUS  = 2
+	def __init__(self, ipcomm_axis, max_run_freq=None, initiator=INITIATOR_MINUS, initiator_position = 0, inverted = False, scale={}):
+		super(PhytronAxis, self).__init__(inverted = inverted, scale = scale)
+
+		self.ipcomm_axis = ipcomm_axis
+		if not max_run_freq:
+			max_run_freq = self.ipcomm_axis.getRunFrequency()
+		self.max_run_freq = max_run_freq
+		self.initialisation = False
+		self.initiator = initiator
+		self.initiator_position = initiator_position
+		self.onInitialized.connect(self.handle_initialized)
+	
+	def handle_initialized(self, sender, initialized):
+		if self.initialisation and sender == self and initialized:
+			self.ipcomm_axis.setPosition(self.initiator_position)
+	
+	def do_update(self):
+		status = self.ipcomm_axis.getFullStatus()
+		self.position = self.ipcomm_axis.getPosition()
+		self.running = status.running
+		self.initializing = status.initializing
+		self.initialized = status.initialized
+		self.initiator_minus = status.initiator_minus
+		self.initator_plus = status.initiator_plus
+		self.initiator_error = status.initiator_error
+		self.temperature_warning = status.high_temperature
+
+	def emergency_stop(self):
+		self.ipcomm_axis.stop()		
+
+	def initiate(self):
+		self.ipcomm_axis.stop()
+		self.wait_for_stop()
+		self.ipcomm_axis.setRunFrequency(self.max_run_freq)
+		if self.initiator == PhytronAxis.INITIATOR_MINUS:
+			self.ipcomm_axis.initializeMinus()
+		if self.initiator == PhytronAxis.INITIATOR_PLUS:
+			self.ipcomm_axis.initializePlus()
+		self.initialisation = True
+
+	def set_initiator_position(self, sender, initialized):
+		if sender == self and initialized:
+			self.ipcomm_axis.setPosition(self.initiator_position)
+			self.position = self.initator_position
+
+	def goto_absolute(self, target, speed = None):
+		self.ipcomm_axis.stop()
+		self.wait_for_stop()
+		if not speed:
+			speed = 1.
+		self.ipcomm_axis.setRunFrequency(self.max_run_freq * speed)
+		self.ipcomm_axis.gotoAbs(target)