Add new file

UPICCO_new.py

+import clr
+import time
+
+clr.AddReference("UsbDllWrap")
+
+from Newport.USBComm import *
+from System.Text import StringBuilder
+from System.Collections import Hashtable
+from System.Collections import IDictionaryEnumerator
+
+class UPICCO:
+    def __init__(self, name='align', dev='8742 97165', sn='NA', num_motors=2):
+        self.name = name
+        self.dev = dev
+        self.sn = sn
+        self.num_motors = num_motors
+        self.positions = [None] * self.num_motors
+        self.velocities = [None] * self.num_motors
+        self.accelerations = [None] * self.num_motors
+        self.usb = USB(True)
+        self.status = self.usb.OpenDevices(0, True)
+
+        for i in range(self.num_motors):
+            try:
+                response = StringBuilder(64)
+                self.usb.Query(self.dev, f'{i+1}TP?', response)
+                self.positions[i] = response.ToString()
+
+                response = StringBuilder(64)
+                self.usb.Query(self.dev, f'{i+1}VA?', response)
+                self.velocities[i] = response.ToString()
+
+                response = StringBuilder(64)
+                self.usb.Query(self.dev, f'{i+1}AC?', response)
+                self.accelerations[i] = response.ToString()
+            except:
+                print(f'Failed to get motor {i+1} data')
+                continue
+
+    def get_motor_position(self, motor):
+        try:
+            response = StringBuilder(64)
+            self.usb.Query(self.dev, f'{motor}TP?', response)
+            self.positions[motor-1] = response.ToString()
+            return f'[{self.name}: DONE MOTOR POSITION={self.positions[motor-1]}]'
+        except:
+            return 'UPICCO: ERROR TO GET MOTOR POSITION'
+
+    def get_motor_velocity(self, motor):
+        try:
+            response = StringBuilder(64)
+            self.usb.Query(self.dev, f'{motor}VA?', response)
+            self.velocities[motor-1] = response.ToString()
+            return f'{self.name}: DONE MOTOR VELOCITY={self.velocities[motor-1]}'
+        except:
+            return 'UPICCO: ERROR TO GET MOTOR VELOCITY'
+
+    def get_motor_acceleration(self, motor):
+        try:
+            response = StringBuilder(64)
+            self.usb.Query(self.dev, f'{motor}AC?', response)
+            self.accelerations[motor-1] = response.ToString()
+            return f'{self.name}: DONE MOTOR ACCELERATION={self.accelerations[motor-1]}'
+        except:
+            return 'UPICCO: ERROR TO GET MOTOR ACCELERATION'
+
+    def set_velocity(self, motor, velocity):
+        try:
+            self.usb.Query(self.dev, f'{motor}VA{velocity}', StringBuilder(64))
+            self.velocities[motor-1] = velocity
+            return f'{self.name}: DONE MOTOR VELOCITY={velocity}'
+        except:
+            return 'ERROR: Failed to talk with UPICCO'
+
+    def set_acceleration(self, motor=1, acceleration=100000):
+        try:
+            self.usb.Query(self.dev, f'{motor}AC{acceleration}', StringBuilder(64))
+            self.accelerations[motor-1] = acceleration
+            return f'{self.name}: DONE MOTOR ACCELERATION={acceleration}'
+        except:
+            return 'ERROR: Failed to talk with UPICCO'
+
+    def fget_motor_motion_status(self, motor= 1):
+        try:
+            response = StringBuilder(64)
+            self.usb.Query(self.dev, f'{motor}MD?', response)
+            return response.ToString()
+        except:
+            return 'UPICCO: ERROR TO GET MOTOR STATUS'
+
+    def move_absolute(self, motor=1, steps=0):
+        try:
+            self.usb.Query(self.dev, f'{motor}PA{steps}', StringBuilder(64))
+            while True:
+                time.sleep(0.1)
+                msg = self.fget_motor_motion_status(motor)
+                if msg == "1":
+                    time.sleep(0.1)
+                    msg = self.get_motor_position(motor)
+                    break
+            return msg
+        except:
+            return 'ERROR: Failed to talk with UPICCO'
+
+    def move_relative(self, motor=1, steps=0):
+        try:
+            self.usb.Query(self.dev, f'{motor}PR{steps}', StringBuilder(64))
+            while True:
+                time.sleep(0.1)
+                msg = self.fget_motor_motion_status(motor)
+                if msg == "1":
+                    time.sleep(0.1)
+                    msg = self.get_motor_position(motor)
+                    break
+            return msg
+        except:
+            return 'ERROR: Failed to talk with UPICCO'
+
+    def close(self):
+        if self.status:
+            self.usb.CloseDevices()
+        print("Devices Closed.\n")