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#!/usr/bin/python2
# -*- encoding: utf-8 -*-
import Phytron
import MotionControl.MotionStage, MotionControl.PhytronAxis, MotionControl.Service
from MotionControl.MotionStage import MotionStage
from MotionControl.PhytronAxis import PhytronAxis
from MotionControl.Service import Service
ipcomm = Phytron.IPCOMM('/dev/ttyERDASTEP', axes=4)
axis_x = PhytronAxis( ipcomm[0], \
max_run_freq = 825, \
initiator = PhytronAxis.INITIATOR_PLUS, \
initiator_position = 221786, \
scale = {'mm': 8000} )
axis_y = PhytronAxis( ipcomm[1], \
max_run_freq = 825, \
initiator = PhytronAxis.INITIATOR_PLUS, \
initiator_position = 115256, \
scale = {'mm': 8000} )
axis_z = PhytronAxis( ipcomm[2], \
max_run_freq = 500, \
initiator = PhytronAxis.INITIATOR_PLUS, \
# FIXME: Z zero position needs yet to be determined
initiator_position = 217952, \
scale = {'mm': 8000} )
axis_phi = PhytronAxis( ipcomm[3], \
max_run_freq = 1000, \
initiator = PhytronAxis.INITIATOR_MINUS, \
initiator_position = -273432, \
scale = {'°': 1600} )
stage_axes = (axis_x, axis_y, axis_z, axis_phi)
Service.stage = MotionStage(stage_axes)
if __name__ == "__main__":
from rpyc.utils.server import ThreadedServer
server = ThreadedServer(Service, port = 12345)
server.start()
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